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a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/config.yml b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..7f56914cd8ccc41af8a325f1d2253a87c4f6ec60 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/config.yml @@ -0,0 +1,54 @@ +urdf_path: "./X5A.urdf" +# srdf_path: "./X5A.srdf" +joint_stiffness: 1000 +joint_damping: 200 +gripper_stiffnes: 1000 +gripper_damping: 200 +move_group: ["link6","link6"] +ee_joints: ["joint6","joint6"] +arm_joints_name: [['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'], + ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']] +gripper_name: + - base: "joint7" + mimic: [["joint8", 1., 0.]] + - base: "joint7" + mimic: [["joint8", 1., 0.]] +gripper_bias: 0.12 +gripper_scale: [-0.01, 0.045] +homestate: [[0,0,0,0,0,0],[0,0,0,0,0,0]] +delta_matrix: [[1,0,0],[0,1,0],[0,0,1]] +# global_trans_matrix: [[0,0,1],[0,1,0],[-1,0,0]] # for mplib +global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] # for curobo +robot_pose: [[0, -0.35, 0.784, 0.707, 0, 0, 0.707]] # modify +# planner: "mplib_RRT" +planner: "curobo" +dual_arm: False +grasp_perfect_direction: ['front_right', 'front_left'] +static_camera_list: +- name: head_camera + position: + - -0.032 + - -0.45 + - 1.35 + forward: + - 0 + - 0.6 + - -0.8 + left: + - -1 + - 0 + - 0 +# - name: front_camera +# type: D435 +# position: +# - 0 +# - -0.45 +# - 0.85 +# forward: +# - 0 +# - 1 +# - -0.1 +# left: +# - -1 +# - 0 +# - 0 \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/info.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..63fcb8d66d05817d9465a315fde13823a9e8e225 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/info.json @@ -0,0 +1,62 @@ +{ + "task": "rotate_qrcode", + "embodiment": "ARX-X5", + "camera_views": [ + "head_camera", + "left_camera", + "right_camera" + ], + "data_resolution": "320x240", + "num_episodes": 50, + "embodiment_config": { + "urdf": "X5A.urdf", + "dual_arm": false, + "dis": 0.6, + "left_arm": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6" + ], + "right_arm": [ + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6" + ], + "left_gripper": [ + "joint7", + [ + [ + "joint8", + 1.0, + 0.0 + ] + ] + ], + "right_gripper": [ + "joint7", + [ + [ + "joint8", + 1.0, + 0.0 + ] + ] + ], + "gripper_scale": [ + -0.01, + 0.045 + ], + "grasp_axis": [ + -1.0, + 0.0, + 0.0 + ] + }, + "source_renderer": "render/render_robotwin.py" +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode0.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..cd89c555ed9fdd45f53509dd2a160306a1423e4e --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray top with QR code from the table, turning it QR code forward.", + "Catch the payment sign with green logo using the right arm, pick it up, and turn it to face the QR code.", + "Catch the small black stand for payments with the right arm, then rotate it to make the QR code visible.", + "Grab the small black stand for payments using the right arm, lift, and rotate until QR code faces you.", + "Lift the green payment logo on gray top and orient its QR code toward you with the right arm.", + "Catch the tabletop-sized payment sign, pick it up, and rotate to view the qrcode.", + "Grab the payment sign with green logo using the right arm, then rotate the QR code to face forward.", + "Use the right arm to lift the slanted gray panel for QR code scan and rotate it QR code toward you.", + "Catch the payment sign with angled face, lift it, and rotate it QR code facing.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Use the right arm to take the gray top with QR code and turn it until the QR code faces you", + "Lift the small black stand for payments and rotate for its qrcode to face you.", + "Lift the small black stand for payments from the table and rotate it towards you", + "Use the right arm to pick the payment sign with angled face and turn it towards you.", + "Grab the small black stand for payments with the right arm, then rotate it to face yourself.", + "Catch the black base with tilted gray panel, pick it up, and rotate to show the QR code.", + "Take the slanted gray panel for QR code scan, lift it, and orient it so the QR faces you", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the right arm.", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Lift the small payment stand with black base from the surface and adjust its angle towards you", + "Use the right arm to grab the green payment logo on gray top and point its QR code toward you.", + "Lift the small black stand for payments with the right arm, then rotate it to make the qrcode visible.", + "Take the gray top with QR code from the table, rotating it QR code toward you.", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you.", + "Catch and lift the gray top with QR code, then turn it to show the QR code.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Lift the payment sign with green logo and rotate until its qrcode faces you.", + "Employ the right arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Use the right arm to grab the slanted gray panel for QR code scan and rotate it until the QR faces forward", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Find the slanted gray panel for QR code scan, grab it, and turn it towards yourself.", + "Grab the paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Slide the paymentsign off the table and turn it to face you.", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the green payment logo on gray top and rotate QR code towards you.", + "Catch the slanted gray panel for QR code scan, raise it, and turn it so the QR code faces you", + "Pick up the tabletop-sized payment sign and adjust its position to face the qrcode towards you.", + "Using the right arm, catch the gray top with QR code and rotate it to face the QR code.", + "Catch the small payment stand with black base off the table and rotate its qrcode to you.", + "Pick up the paymentsign and rotate it so the QR code faces you", + "Use the right arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Use the right arm to lift the slanted gray panel for QR code scan from the table and face the qrcode.", + "Grab the gray slanted panel with text, lift it from the table, and rotate it QR front", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the small black stand for payments, rotate, and face the QR code towards you.", + "Use the right arm to grab the payment sign with angled face and rotate the qrcode to face you.", + "Lift the tabletop-sized payment sign from the table, turning it QR code forward.", + "Catch the triangular stand with QR code using the right arm, pick it up, and turn it to face the QR code.", + "Catch the triangular stand with QR code with the right arm, then rotate it to make the QR code visible.", + "Grab the payment sign with green logo using the right arm, lift, and rotate until QR code faces you.", + "Lift the small black stand for payments and orient its QR code toward you with the right arm.", + "Catch the black base with tilted gray panel, pick it up, and rotate to view the qrcode.", + "Grab the slanted gray panel for QR code scan using the right arm, then rotate the QR code to face forward.", + "Use the right arm to lift the black base with tilted gray panel and rotate it QR code toward you.", + "Catch the slanted gray panel for QR code scan, lift it, and rotate it QR code facing.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to take the payment sign with green logo and turn it until the QR code faces you", + "Lift the payment sign with green logo and rotate for its qrcode to face you.", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Use the right arm to pick the black base with tilted gray panel and turn it towards you.", + "Grab the small black stand for payments with the right arm, then rotate it to face yourself.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Take the gray slanted panel with text, lift it, and orient it so the QR faces you", + "Pick the triangular stand with QR code up and turn its QR code toward you using the right arm.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Catch the green payment logo on gray top, lift it, and adjust its QR code to face you.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Lift the small payment stand with black base from the surface and adjust its angle towards you", + "Use the right arm to grab the black base with tilted gray panel and point its QR code toward you.", + "Lift the small black stand for payments with the right arm, then rotate it to make the qrcode visible.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Lift the gray top with QR code from the table and rotate it so the code faces you.", + "Catch and lift the gray slanted panel with text, then turn it to show the QR code.", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Lift the tabletop-sized payment sign and rotate until its qrcode faces you.", + "Employ the right arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Use the right arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Find the black base with tilted gray panel, grab it, and turn it towards yourself.", + "Grab the gray top with QR code using the right arm, then rotate it until the qrcode faces you.", + "Slide the small payment stand with black base off the table and turn it to face you.", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Pick the tabletop-sized payment sign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the small payment stand with black base and rotate QR code towards you.", + "Catch the tabletop-sized payment sign, raise it, and turn it so the QR code faces you", + "Pick up the gray slanted panel with text and adjust its position to face the qrcode towards you.", + "Using the right arm, catch the slanted gray panel for QR code scan and rotate it to face the QR code.", + "Catch the black base with tilted gray panel off the table and rotate its qrcode to you.", + "Pick up the triangular stand with QR code and rotate it so the QR code faces you", + "Use the right arm to grab the payment sign with angled face, lift, and turn it QR code forward", + "Use the right arm to lift the small payment stand with black base from the table and face the qrcode.", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Catch the triangular stand with QR code, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Use the right arm to grab the paymentsign and rotate the qrcode to face you." + ], + "unseen": [ + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode1.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..09b834c7b772244e2a415a9e0df2fca66e7dc48a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Employ the left arm to seize the white stand sign, raise it, and rotate it QR-forward", + "Catch the yellow and white payment display off the table and rotate its qrcode to you.", + "Use the left arm to grab the yellow panel white paymentsign and point its QR code toward you.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it so the code faces you.", + "Use the left arm to take the white rectangular paymentsign with yellow details and turn it until the QR code faces you", + "Take the yellow panel white paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to pick the white stand sign and turn it towards you.", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and rotate it until the QR faces forward", + "Grab the white stand sign using the left arm, lift, and rotate until QR code faces you.", + "Lift the white stand sign and rotate it until the QR code faces you.", + "Pick the paymentsign with QR code area up and turn its QR code toward you using the left arm.", + "Pick up the yellow and white payment display and rotate it so the QR code faces you", + "Grab the plastic smooth paymentsign, lift it from the table, and rotate it QR front", + "Find the paymentsign with QR code area, grab it, and turn it towards yourself.", + "Catch the yellow and white payment display with the left arm, then rotate it to make the QR code visible.", + "Lift the tabletop paymentsign and orient its QR code toward you with the left arm.", + "Use the left arm to lift the paymentsign from the table and face the qrcode.", + "Use the left arm to grab the yellow panel white paymentsign, lift, and turn it QR code forward", + "Pick the white paymentsign with raised base up, then rotate to make its qrcode visible.", + "Catch and lift the rectangular paymentsign with stand, then turn it to show the QR code.", + "Take the white stand sign from the table, rotating it QR code toward you.", + "Grab the white rectangular paymentsign with yellow details with the left arm, then rotate it to face yourself.", + "Lift the yellow and white payment display and rotate until its qrcode faces you.", + "Using the left arm, catch the smooth plastic paymentsign with QR code and rotate it to face the QR code.", + "Use the left arm to lift the white stand sign and rotate it QR code toward you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Locate the rectangular paymentsign with stand, pick it up, and adjust its angle.", + "Grab the plastic smooth paymentsign, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the paymentsign and rotate QR code towards you.", + "Lift the yellow and white payment display with the left arm, then rotate it to make the qrcode visible.", + "Catch the rectangular paymentsign with stand, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and rotate the qrcode to face you.", + "Use the left arm to grab the white paymentsign with raised base, rotate, and face the QR code towards you.", + "Catch the yellow panel white paymentsign, lift it, and rotate it QR code facing.", + "Grab the paymentsign using the left arm, then rotate the QR code to face forward.", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Lift the yellow and white payment display and rotate for its qrcode to face you.", + "Catch the white paymentsign with raised base, lift it, and turn the qrcode towards you.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Lift the yellow and white payment display from the table and turn it to face you.", + "Lift the white paymentsign with raised base from the surface and adjust its angle towards you", + "Grab the smooth plastic paymentsign with QR code using the left arm, then rotate it until the qrcode faces you.", + "Catch the plastic smooth paymentsign, raise it, and turn it so the QR code faces you", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Catch the smooth plastic paymentsign with QR code, lift, and rotate to align the qrcode to you.", + "Catch the white stand sign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the tabletop paymentsign, pick it up, and rotate to view the qrcode.", + "Pick up the rectangular paymentsign with stand and adjust its position to face the qrcode towards you.", + "Slide the white rectangular paymentsign with yellow details off the table and turn it to face you.", + "Employ the left arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and point its QR code toward you.", + "Lift the rectangular paymentsign with stand from the table and rotate it so the code faces you.", + "Use the left arm to take the rectangular paymentsign with stand and turn it until the QR code faces you", + "Take the sign with yellow payment section, raise it, and make the qrcode face you.", + "Use the left arm to pick the white paymentsign with raised base and turn it towards you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the yellow and white payment display and rotate it until the QR faces forward", + "Grab the white stand sign using the left arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign and rotate it until the QR code faces you.", + "Pick the paymentsign up and turn its QR code toward you using the left arm.", + "Pick up the rectangular paymentsign with stand and rotate it so the QR code faces you", + "Grab the white rectangular paymentsign with yellow details, lift it from the table, and rotate it QR front", + "Find the rectangular paymentsign with stand, grab it, and turn it towards yourself.", + "Catch the white paymentsign with raised base with the left arm, then rotate it to make the QR code visible.", + "Lift the white paymentsign with raised base and orient its QR code toward you with the left arm.", + "Use the left arm to lift the plastic smooth paymentsign from the table and face the qrcode.", + "Use the left arm to grab the white paymentsign with raised base, lift, and turn it QR code forward", + "Pick the smooth plastic paymentsign with QR code up, then rotate to make its qrcode visible.", + "Catch and lift the smooth plastic paymentsign with QR code, then turn it to show the QR code.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Grab the paymentsign with QR code area with the left arm, then rotate it to face yourself.", + "Lift the yellow and white payment display and rotate until its qrcode faces you.", + "Using the left arm, catch the white rectangular paymentsign with yellow details and rotate it to face the QR code.", + "Use the left arm to lift the paymentsign and rotate it QR code toward you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Locate the sign with yellow payment section, pick it up, and adjust its angle.", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the yellow and white payment display and rotate QR code towards you.", + "Lift the sign with yellow payment section with the left arm, then rotate it to make the qrcode visible.", + "Catch the white stand sign, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the sign with yellow payment section and rotate the qrcode to face you.", + "Use the left arm to grab the rectangular paymentsign with stand, rotate, and face the QR code towards you.", + "Catch the yellow panel white paymentsign, lift it, and rotate it QR code facing.", + "Grab the plastic smooth paymentsign using the left arm, then rotate the QR code to face forward.", + "Take the white paymentsign with raised base, lift it, and orient it so the QR faces you", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Lift the sign with yellow payment section from the table and rotate it towards you", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Lift the yellow panel white paymentsign from the surface and adjust its angle towards you", + "Grab the yellow and white payment display using the left arm, then rotate it until the qrcode faces you.", + "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you", + "Lift the rectangular paymentsign with stand from the table, turning it QR code forward.", + "Catch the yellow panel white paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the white stand sign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the white stand sign, pick it up, and rotate to view the qrcode.", + "Pick up the rectangular paymentsign with stand and adjust its position to face the qrcode towards you.", + "Slide the yellow panel white paymentsign off the table and turn it to face you." + ], + "unseen": [ + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the left arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode10.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..29a13c4d8b29d323ff644ea5f8b7fcd0218352f1 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small payment stand with black base from the table, turning it QR code forward.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Grab the slanted gray panel for QR code scan, lift it from the table, and rotate it QR front", + "Use the left arm to grab the gray top with QR code and rotate it until the QR faces forward", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Take the small payment stand with black base, lift it, and orient it so the QR faces you", + "Use the left arm to lift the paymentsign and rotate it QR code toward you.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Use the left arm to grab the small payment stand with black base and point its QR code toward you.", + "Use the left arm to grab the small payment stand with black base and rotate QR code towards you.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Use the left arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it so the code faces you.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Catch the green payment logo on gray top with the left arm, then rotate it to make the QR code visible.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Using the left arm, catch the green payment logo on gray top and rotate it to face the QR code.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Pick the small payment stand with black base up and turn its QR code toward you using the left arm.", + "Lift the small payment stand with black base with the left arm, then rotate it to make the qrcode visible.", + "Catch the tabletop-sized payment sign, lift it, and adjust its QR code to face you.", + "Grab the payment sign with green logo using the left arm, lift, and rotate until QR code faces you.", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Lift the green payment logo on gray top from the table and rotate it towards you", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Grab the gray top with QR code using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the small payment stand with black base, lift, and turn it QR code forward", + "Use the left arm to take the tabletop-sized payment sign and turn it until the QR code faces you", + "Catch the triangular stand with QR code, raise it, and turn it so the QR code faces you", + "Lift the green payment logo on gray top and rotate for its qrcode to face you.", + "Pick the tabletop-sized payment sign up, rotate it, and ensure the QR code faces you.", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Catch the black base with tilted gray panel using the left arm, pick it up, and turn it to face the QR code.", + "Take the black base with tilted gray panel from the table, rotating it QR code toward you.", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Find the gray top with QR code, grab it, and turn it towards yourself.", + "Catch the black base with tilted gray panel off the table and rotate its qrcode to you.", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Grab the small black stand for payments using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Lift the black base with tilted gray panel and orient its QR code toward you with the left arm.", + "Employ the left arm to seize the green payment logo on gray top, raise it, and rotate it QR-forward", + "Grab the gray top with QR code with the left arm, then rotate it to face yourself.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Catch the triangular stand with QR code, pick it up, and rotate to show the QR code.", + "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.", + "Pick up the green payment logo on gray top and adjust its position to face the qrcode towards you.", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the gray slanted panel with text from the table and face the qrcode.", + "Use the left arm to pick the black base with tilted gray panel and turn it towards you.", + "Lift the payment sign with green logo from the table, turning it QR code forward.", + "Catch and lift the triangular stand with QR code, then turn it to show the QR code.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Catch the green payment logo on gray top, pick it up, and rotate to view the qrcode.", + "Take the small payment stand with black base, lift it, and orient it so the QR faces you", + "Use the left arm to lift the gray top with QR code and rotate it QR code toward you.", + "Pick up the payment sign with angled face and rotate it so the QR code faces you", + "Use the left arm to grab the small black stand for payments and point its QR code toward you.", + "Use the left arm to grab the payment sign with angled face and rotate QR code towards you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Use the left arm to grab the slanted gray panel for QR code scan, rotate, and face the QR code towards you.", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you.", + "Lift the small payment stand with black base from the surface and adjust its angle towards you", + "Catch the green payment logo on gray top with the left arm, then rotate it to make the QR code visible.", + "Catch the gray slanted panel with text, lift it, and rotate it QR code facing.", + "Using the left arm, catch the paymentsign and rotate it to face the QR code.", + "Catch the gray slanted panel with text, lift, and rotate to align the qrcode to you.", + "Pick the small payment stand with black base up and turn its QR code toward you using the left arm.", + "Lift the gray top with QR code with the left arm, then rotate it to make the qrcode visible.", + "Catch the payment sign with angled face, lift it, and adjust its QR code to face you.", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Lift the triangular stand with QR code from the table and rotate it towards you", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Grab the payment sign with angled face using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Catch the payment sign with green logo, raise it, and turn it so the QR code faces you", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Lift the payment sign with angled face and rotate it until the QR code faces you.", + "Catch the tabletop-sized payment sign using the left arm, pick it up, and turn it to face the QR code.", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Slide the green payment logo on gray top off the table and turn it to face you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Take the slanted gray panel for QR code scan, raise it, and make the qrcode face you.", + "Grab the payment sign with angled face using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the small black stand for payments and rotate the qrcode to face you.", + "Lift the gray top with QR code and orient its QR code toward you with the left arm.", + "Employ the left arm to seize the gray top with QR code, raise it, and rotate it QR-forward", + "Grab the tabletop-sized payment sign with the left arm, then rotate it to face yourself.", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Catch the small payment stand with black base, pick it up, and rotate to show the QR code.", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Pick up the green payment logo on gray top and adjust its position to face the qrcode towards you.", + "Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the small payment stand with black base from the table and face the qrcode.", + "Use the left arm to pick the triangular stand with QR code and turn it towards you." + ], + "unseen": [ + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode11.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..2bbc0e92184599482c17f07549958e819748a50a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the sign with yellow payment section and rotate it until the QR code faces you.", + "Employ the right arm to seize the plastic smooth paymentsign, raise it, and rotate it QR-forward", + "Grab the paymentsign with QR code area with the right arm, then rotate it to face yourself.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to view the qrcode.", + "Lift the tabletop paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to pick the tabletop paymentsign and turn it towards you.", + "Use the right arm to lift the white stand sign from the table and face the qrcode.", + "Pick the sign with yellow payment section up, then rotate to make its qrcode visible.", + "Use the right arm to lift the yellow and white payment display and rotate it QR code toward you.", + "Using the right arm, catch the white stand sign and rotate it to face the QR code.", + "Use the right arm to grab the paymentsign and point its QR code toward you.", + "Use the right arm to grab the white paymentsign with raised base and rotate QR code towards you.", + "Take the white stand sign, lift it, and orient it so the QR faces you", + "Use the right arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Catch the smooth plastic paymentsign with QR code, lift, and rotate to align the qrcode to you.", + "Pick the white stand sign up, rotate it, and ensure the QR code faces you.", + "Take the white paymentsign with raised base from the table, rotating it QR code toward you.", + "Slide the plastic smooth paymentsign off the table and turn it to face you.", + "Lift the yellow panel white paymentsign and rotate for its qrcode to face you.", + "Take the yellow and white payment display, raise it, and make the qrcode face you.", + "Lift the tabletop paymentsign and orient its QR code toward you with the right arm.", + "Grab the paymentsign using the right arm, then rotate the QR code to face forward.", + "Lift the paymentsign with QR code area from the table and rotate it so the code faces you.", + "Pick up the paymentsign with QR code area and rotate it so the QR code faces you", + "Lift the yellow and white payment display from the surface and adjust its angle towards you", + "Catch the white paymentsign with raised base, pick it up, and rotate to show the QR code.", + "Catch the white stand sign off the table and rotate its qrcode to you.", + "Catch the white stand sign, lift it, and adjust its QR code to face you.", + "Lift the white paymentsign with raised base from the table and rotate it towards you", + "Grab the tabletop paymentsign, lift it from the table, and rotate it QR front", + "Lift the white paymentsign with raised base and rotate until its qrcode faces you.", + "Use the right arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate it until the QR faces forward", + "Pick up the yellow panel white paymentsign and adjust its position to face the qrcode towards you.", + "Grab the white paymentsign with raised base using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the paymentsign with QR code area and rotate the qrcode to face you.", + "Pick the smooth plastic paymentsign with QR code up and turn its QR code toward you using the right arm.", + "Locate the paymentsign with QR code area, pick it up, and adjust its angle.", + "Catch the white rectangular paymentsign with yellow details, lift it, and rotate it QR code facing.", + "Catch the sign with yellow payment section, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the paymentsign with QR code area, lift, and turn it QR code forward", + "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Lift the white paymentsign with raised base from the table, turning it QR code forward.", + "Catch the paymentsign with QR code area with the right arm, then rotate it to make the QR code visible.", + "Catch and lift the sign with yellow payment section, then turn it to show the QR code.", + "Grab the white paymentsign with raised base, pick it up, and turn its qrcode toward you.", + "Find the rectangular paymentsign with stand, grab it, and turn it towards yourself.", + "Catch the white paymentsign with raised base, raise it, and turn it so the QR code faces you", + "Grab the yellow panel white paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the white stand sign from the table and turn it to face you.", + "Lift the tabletop paymentsign and rotate it until the QR code faces you.", + "Employ the right arm to seize the yellow and white payment display, raise it, and rotate it QR-forward", + "Grab the smooth plastic paymentsign with QR code with the right arm, then rotate it to face yourself.", + "Catch the white stand sign, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign with QR code area with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to pick the rectangular paymentsign with stand and turn it towards you.", + "Use the right arm to lift the paymentsign with QR code area from the table and face the qrcode.", + "Pick the white rectangular paymentsign with yellow details up, then rotate to make its qrcode visible.", + "Use the right arm to lift the sign with yellow payment section and rotate it QR code toward you.", + "Using the right arm, catch the white paymentsign with raised base and rotate it to face the QR code.", + "Use the right arm to grab the paymentsign and point its QR code toward you.", + "Use the right arm to grab the tabletop paymentsign and rotate QR code towards you.", + "Take the paymentsign with QR code area, lift it, and orient it so the QR faces you", + "Use the right arm to grab the smooth plastic paymentsign with QR code, rotate, and face the QR code towards you.", + "Catch the yellow panel white paymentsign, lift, and rotate to align the qrcode to you.", + "Pick the white paymentsign with raised base up, rotate it, and ensure the QR code faces you.", + "Take the sign with yellow payment section from the table, rotating it QR code toward you.", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Lift the rectangular paymentsign with stand and rotate for its qrcode to face you.", + "Take the paymentsign with QR code area, raise it, and make the qrcode face you.", + "Lift the white paymentsign with raised base and orient its QR code toward you with the right arm.", + "Grab the paymentsign using the right arm, then rotate the QR code to face forward.", + "Lift the rectangular paymentsign with stand from the table and rotate it so the code faces you.", + "Pick up the paymentsign with QR code area and rotate it so the QR code faces you", + "Lift the sign with yellow payment section from the surface and adjust its angle towards you", + "Catch the paymentsign with QR code area, pick it up, and rotate to show the QR code.", + "Catch the white stand sign off the table and rotate its qrcode to you.", + "Catch the yellow and white payment display, lift it, and adjust its QR code to face you.", + "Lift the paymentsign from the table and rotate it towards you", + "Grab the sign with yellow payment section, lift it from the table, and rotate it QR front", + "Lift the sign with yellow payment section and rotate until its qrcode faces you.", + "Use the right arm to take the paymentsign and turn it until the QR code faces you", + "Use the right arm to grab the sign with yellow payment section and rotate it until the QR faces forward", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Grab the smooth plastic paymentsign with QR code using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the white stand sign and rotate the qrcode to face you.", + "Pick the white rectangular paymentsign with yellow details up and turn its QR code toward you using the right arm.", + "Locate the plastic smooth paymentsign, pick it up, and adjust its angle.", + "Catch the white stand sign, lift it, and rotate it QR code facing.", + "Catch the white stand sign, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the smooth plastic paymentsign with QR code, lift, and turn it QR code forward", + "Catch the white rectangular paymentsign with yellow details using the right arm, pick it up, and turn it to face the QR code.", + "Lift the yellow and white payment display from the table, turning it QR code forward.", + "Catch the yellow and white payment display with the right arm, then rotate it to make the QR code visible.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Find the smooth plastic paymentsign with QR code, grab it, and turn it towards yourself.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Grab the white paymentsign with raised base using the right arm, then rotate it until the qrcode faces you.", + "Lift the plastic smooth paymentsign from the table and turn it to face you." + ], + "unseen": [ + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode12.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..f74c0fc394e62388ea9741353217bc4e404e7a5d --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the paymentsign with angled black stand, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the small glossy paymentsign, rotate, and face the QR code towards you.", + "Catch the small glossy paymentsign with the left arm, then rotate it to make the QR code visible.", + "Catch and lift the tabletop paymentsign, then turn it to show the QR code.", + "Take the blue and white rectangular paymentsign from the table, rotating it QR code toward you.", + "Lift the smooth surface paymentsign and orient its QR code toward you with the left arm.", + "Slide the paymentsign with printed QR codes off the table and turn it to face you.", + "Grab the smooth surface paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the paymentsign with printed QR codes and point its QR code toward you.", + "Grab the paymentsign for scanning QR codes using the left arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with angled black stand off the table and rotate its qrcode to you.", + "Catch the paymentsign with angled black stand, lift it, and rotate it QR code facing.", + "Use the left arm to lift the paymentsign with printed QR codes from the table and face the qrcode.", + "Pick up the blue and white paymentsign and adjust its position to face the qrcode towards you.", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Use the left arm to pick the paymentsign with printed QR codes and turn it towards you.", + "Grab the small paymentsign with stand, lift it from the table, and rotate it QR front", + "Catch the small glossy paymentsign, pick it up, and rotate to view the qrcode.", + "Locate the small glossy paymentsign, pick it up, and adjust its angle.", + "Using the left arm, catch the paymentsign with angled black stand and rotate it to face the QR code.", + "Use the left arm to grab the blue and white rectangular paymentsign, lift, and turn it QR code forward", + "Catch the paymentsign for scanning QR codes, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the small glossy paymentsign and rotate QR code towards you.", + "Lift the blue and white rectangular paymentsign from the table and turn it to face you.", + "Pick the small glossy paymentsign up, then rotate to make its qrcode visible.", + "Pick the smooth surface paymentsign up and turn its QR code toward you using the left arm.", + "Lift the blue and white paymentsign from the table and rotate it towards you", + "Lift the blue and white paymentsign from the table, turning it QR code forward.", + "Lift the paymentsign with glossy blue panel and rotate for its qrcode to face you.", + "Use the left arm to take the rectangular plastic paymentsign with codes and turn it until the QR code faces you", + "Pick up the small glossy paymentsign and rotate it so the QR code faces you", + "Lift the tabletop paymentsign from the table and rotate it so the code faces you.", + "Lift the paymentsign with printed QR codes from the surface and adjust its angle towards you", + "Catch the small paymentsign with stand, lift it, and turn the qrcode towards you.", + "Lift the small paymentsign with stand and rotate until its qrcode faces you.", + "Pick the blue and white paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign for scanning QR codes with the left arm, then rotate it to face yourself.", + "Use the left arm to grab the smooth surface paymentsign and rotate the qrcode to face you.", + "Use the left arm to lift the smooth surface paymentsign and rotate it QR code toward you.", + "Grab the small glossy paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with printed QR codes, raise it, and turn it so the QR code faces you", + "Lift the paymentsign for scanning QR codes with the left arm, then rotate it to make the qrcode visible.", + "Catch the tabletop paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Employ the left arm to seize the small glossy paymentsign, raise it, and rotate it QR-forward", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Find the smooth surface paymentsign, grab it, and turn it towards yourself.", + "Use the left arm to grab the rectangular plastic paymentsign with codes and rotate it until the QR faces forward", + "Lift the paymentsign for scanning QR codes and rotate it until the QR code faces you.", + "Grab the blue and white rectangular paymentsign, pick it up, and turn its qrcode toward you.", + "Take the small glossy paymentsign, raise it, and make the qrcode face you.", + "Catch the rectangular plastic paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the small paymentsign with stand, rotate, and face the QR code towards you.", + "Catch the paymentsign with printed QR codes with the left arm, then rotate it to make the QR code visible.", + "Catch and lift the smooth surface paymentsign, then turn it to show the QR code.", + "Take the paymentsign with glossy blue panel from the table, rotating it QR code toward you.", + "Lift the paymentsign with angled black stand and orient its QR code toward you with the left arm.", + "Slide the paymentsign with glossy blue panel off the table and turn it to face you.", + "Grab the paymentsign for scanning QR codes using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the tabletop paymentsign and point its QR code toward you.", + "Grab the paymentsign for scanning QR codes using the left arm, lift, and rotate until QR code faces you.", + "Catch the tabletop paymentsign off the table and rotate its qrcode to you.", + "Catch the paymentsign for scanning QR codes, lift it, and rotate it QR code facing.", + "Use the left arm to lift the blue and white paymentsign from the table and face the qrcode.", + "Pick up the smooth surface paymentsign and adjust its position to face the qrcode towards you.", + "Catch the rectangular plastic paymentsign with codes, lift it, and adjust its QR code to face you.", + "Use the left arm to pick the paymentsign for scanning QR codes and turn it towards you.", + "Grab the paymentsign for scanning QR codes, lift it from the table, and rotate it QR front", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to view the qrcode.", + "Locate the blue and white paymentsign, pick it up, and adjust its angle.", + "Using the left arm, catch the small paymentsign with stand and rotate it to face the QR code.", + "Use the left arm to grab the blue and white rectangular paymentsign, lift, and turn it QR code forward", + "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the smooth surface paymentsign and rotate QR code towards you.", + "Lift the paymentsign for scanning QR codes from the table and turn it to face you.", + "Pick the blue and white rectangular paymentsign up, then rotate to make its qrcode visible.", + "Pick the small paymentsign with stand up and turn its QR code toward you using the left arm.", + "Lift the paymentsign for scanning QR codes from the table and rotate it towards you", + "Lift the blue and white rectangular paymentsign from the table, turning it QR code forward.", + "Lift the paymentsign with glossy blue panel and rotate for its qrcode to face you.", + "Use the left arm to take the paymentsign with angled black stand and turn it until the QR code faces you", + "Pick up the rectangular plastic paymentsign and rotate it so the QR code faces you", + "Lift the paymentsign for scanning QR codes from the table and rotate it so the code faces you.", + "Lift the paymentsign with glossy blue panel from the surface and adjust its angle towards you", + "Catch the paymentsign with glossy blue panel, lift it, and turn the qrcode towards you.", + "Lift the blue and white rectangular paymentsign and rotate until its qrcode faces you.", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Grab the small glossy paymentsign with the left arm, then rotate it to face yourself.", + "Use the left arm to grab the smooth surface paymentsign and rotate the qrcode to face you.", + "Use the left arm to lift the paymentsign with printed QR codes and rotate it QR code toward you.", + "Grab the small glossy paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with printed QR codes, raise it, and turn it so the QR code faces you", + "Lift the rectangular plastic paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Catch the blue and white rectangular paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Employ the left arm to seize the paymentsign for scanning QR codes, raise it, and rotate it QR-forward", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Find the blue and white paymentsign, grab it, and turn it towards yourself.", + "Use the left arm to grab the rectangular plastic paymentsign with codes and rotate it until the QR faces forward", + "Lift the blue and white paymentsign and rotate it until the QR code faces you.", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Take the rectangular plastic paymentsign with codes, raise it, and make the qrcode face you." + ], + "unseen": [ + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode13.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..7fd7d4e4970d4183b095d1a1e93837f4cdeffdc7 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small paymentsign for mobile payments from the table, turning it QR code forward.", + "Grab the beige paymentsign with printed details, lift it from the table, and rotate it QR front", + "Pick the compact paymentsign for scanning payments up, then rotate to make its qrcode visible.", + "Catch and lift the rectangular paymentsign with colorful top, then turn it to show the QR code.", + "Use the right arm to grab the smooth beige paymentsign and rotate the qrcode to face you.", + "Catch the paymentsign resting on angled base, raise it, and turn it so the QR code faces you", + "Lift the paymentsign with tilted rectangular panel with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward", + "Find the paymentsign resting on angled base, grab it, and turn it towards yourself.", + "Use the right arm to lift the rectangular paymentsign with colorful top and rotate it QR code toward you.", + "Use the right arm to lift the paymentsign with tilted rectangular panel from the table and face the qrcode.", + "Use the right arm to pick the beige paymentsign and turn it towards you.", + "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.", + "Catch the small paymentsign for mobile payments with the right arm, then rotate it to make the QR code visible.", + "Lift the QR code paymentsign and orient its QR code toward you with the right arm.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate it until the QR faces forward", + "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you", + "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.", + "Lift the paymentsign with blue and white text from the table and rotate it towards you", + "Grab the beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.", + "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.", + "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to show the QR code.", + "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.", + "Employ the right arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Take the smooth beige paymentsign, raise it, and make the qrcode face you.", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Catch the paymentsign with blue and white text, lift it, and rotate it QR code facing.", + "Catch the stand-up paymentsign with rectangular top, lift it, and turn the qrcode towards you.", + "Grab the compact paymentsign for scanning payments using the right arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign with tilted rectangular panel and rotate until its qrcode faces you.", + "Use the right arm to grab the small paymentsign for mobile payments and point its QR code toward you.", + "Lift the stand-up paymentsign with rectangular top from the table and turn it to face you.", + "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.", + "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.", + "Locate the compact paymentsign for scanning payments, pick it up, and adjust its angle.", + "Grab the paymentsign resting on angled base using the right arm, lift, and rotate until QR code faces you.", + "Grab the beige paymentsign with printed details with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate QR code towards you.", + "Catch the QR code paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Pick the beige paymentsign up and turn its QR code toward you using the right arm.", + "Using the right arm, catch the paymentsign resting on angled base and rotate it to face the QR code.", + "Use the right arm to take the beige paymentsign and turn it until the QR code faces you", + "Use the right arm to grab the QR code paymentsign, rotate, and face the QR code towards you.", + "Lift the rectangular paymentsign with colorful top and rotate for its qrcode to face you.", + "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you.", + "Lift the beige paymentsign with printed details from the table, turning it QR code forward.", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Catch and lift the stand-up paymentsign with rectangular top, then turn it to show the QR code.", + "Use the right arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Lift the QR code paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign showing QR code label, lift, and turn it QR code forward", + "Find the small paymentsign for mobile payments, grab it, and turn it towards yourself.", + "Use the right arm to lift the small paymentsign for mobile payments and rotate it QR code toward you.", + "Use the right arm to lift the paymentsign showing QR code label from the table and face the qrcode.", + "Use the right arm to pick the QR code paymentsign and turn it towards you.", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Catch the QR code paymentsign with the right arm, then rotate it to make the QR code visible.", + "Lift the beige paymentsign and orient its QR code toward you with the right arm.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Lift the QR code paymentsign from the surface and adjust its angle towards you", + "Lift the small paymentsign for mobile payments from the table and rotate it so the code faces you.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Grab the beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Take the paymentsign with tilted rectangular panel from the table, rotating it QR code toward you.", + "Catch the paymentsign showing QR code label off the table and rotate its qrcode to you.", + "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.", + "Employ the right arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Slide the paymentsign with blue and white text off the table and turn it to face you.", + "Catch the stand-up paymentsign with rectangular top, lift it, and rotate it QR code facing.", + "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.", + "Grab the paymentsign with blue and white text using the right arm, then rotate it until the qrcode faces you.", + "Lift the QR code paymentsign and rotate until its qrcode faces you.", + "Use the right arm to grab the beige paymentsign and point its QR code toward you.", + "Lift the paymentsign showing QR code label from the table and turn it to face you.", + "Pick up the paymentsign showing QR code label and adjust its position to face the qrcode towards you.", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Locate the stand-up paymentsign with rectangular top, pick it up, and adjust its angle.", + "Grab the paymentsign resting on angled base using the right arm, lift, and rotate until QR code faces you.", + "Grab the paymentsign with tilted rectangular panel with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.", + "Take the paymentsign with tilted rectangular panel, lift it, and orient it so the QR faces you", + "Pick the paymentsign with blue and white text up and turn its QR code toward you using the right arm.", + "Using the right arm, catch the beige paymentsign and rotate it to face the QR code.", + "Use the right arm to take the stand-up paymentsign with rectangular top and turn it until the QR code faces you", + "Use the right arm to grab the paymentsign with blue and white text, rotate, and face the QR code towards you.", + "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.", + "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you." + ], + "unseen": [ + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode14.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..117a64d1fa057eb4f1821c8c8e761cde294b67f7 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate QR code towards you.", + "Lift the QR code paymentsign and orient its QR code toward you with the right arm.", + "Grab the compact paymentsign for scanning payments, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign with blue and white text with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the beige paymentsign with printed details and rotate the qrcode to face you.", + "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it towards you", + "Catch and lift the QR code paymentsign, then turn it to show the QR code.", + "Use the right arm to lift the beige paymentsign with printed details from the table and face the qrcode.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward", + "Catch the QR code paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Pick the small paymentsign for mobile payments up and turn its QR code toward you using the right arm.", + "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you", + "Use the right arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.", + "Lift the QR code paymentsign from the table, turning it QR code forward.", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Use the right arm to take the compact paymentsign for scanning payments and turn it until the QR code faces you", + "Use the right arm to lift the paymentsign resting on angled base and rotate it QR code toward you.", + "Locate the beige paymentsign, pick it up, and adjust its angle.", + "Find the QR code paymentsign, grab it, and turn it towards yourself.", + "Employ the right arm to seize the beige paymentsign, raise it, and rotate it QR-forward", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Catch the compact paymentsign for scanning payments, lift it, and turn the qrcode towards you.", + "Catch the stand-up paymentsign with rectangular top, lift it, and rotate it QR code facing.", + "Grab the QR code paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to pick the paymentsign resting on angled base and turn it towards you.", + "Lift the QR code paymentsign from the table and rotate it so the code faces you.", + "Grab the beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and point its QR code toward you.", + "Catch the paymentsign resting on angled base, raise it, and turn it so the QR code faces you", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Lift the rectangular paymentsign with colorful top and rotate it until the QR code faces you.", + "Lift the small paymentsign for mobile payments and rotate for its qrcode to face you.", + "Grab the paymentsign showing QR code label with the right arm, then rotate it to face yourself.", + "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.", + "Catch the QR code paymentsign, lift it, and adjust its QR code to face you.", + "Take the rectangular paymentsign with colorful top from the table, rotating it QR code toward you.", + "Use the right arm to grab the paymentsign resting on angled base, lift, and turn it QR code forward", + "Using the right arm, catch the beige paymentsign with printed details and rotate it to face the QR code.", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Catch the QR code paymentsign off the table and rotate its qrcode to you.", + "Catch the paymentsign with tilted rectangular panel, lift, and rotate to align the qrcode to you.", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to view the qrcode.", + "Slide the smooth beige paymentsign off the table and turn it to face you.", + "Catch the rectangular paymentsign with colorful top with the right arm, then rotate it to make the QR code visible.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Take the paymentsign with blue and white text, lift it, and orient it so the QR faces you", + "Grab the beige paymentsign with printed details using the right arm, then rotate the QR code to face forward.", + "Pick up the small paymentsign for mobile payments and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the paymentsign with blue and white text and rotate QR code towards you.", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the right arm.", + "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.", + "Lift the smooth beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign resting on angled base and rotate the qrcode to face you.", + "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you", + "Lift the small paymentsign for mobile payments from the table and turn it to face you.", + "Lift the beige paymentsign from the table and rotate it towards you", + "Catch and lift the paymentsign showing QR code label, then turn it to show the QR code.", + "Use the right arm to lift the smooth beige paymentsign from the table and face the qrcode.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate it until the QR faces forward", + "Catch the paymentsign resting on angled base using the right arm, pick it up, and turn it to face the QR code.", + "Pick the paymentsign showing QR code label up and turn its QR code toward you using the right arm.", + "Lift the rectangular paymentsign with colorful top from the surface and adjust its angle towards you", + "Use the right arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Lift the paymentsign showing QR code label from the table, turning it QR code forward.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Use the right arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Use the right arm to lift the beige paymentsign with printed details and rotate it QR code toward you.", + "Locate the beige paymentsign, pick it up, and adjust its angle.", + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Employ the right arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Grab the paymentsign showing QR code label, lift it from the table, and rotate it QR front", + "Catch the beige paymentsign, lift it, and turn the qrcode towards you.", + "Catch the small paymentsign for mobile payments, lift it, and rotate it QR code facing.", + "Grab the smooth beige paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to pick the QR code paymentsign and turn it towards you.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it so the code faces you.", + "Grab the smooth beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign with blue and white text and rotate it until the QR code faces you.", + "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.", + "Grab the paymentsign with tilted rectangular panel with the right arm, then rotate it to face yourself.", + "Take the beige paymentsign, raise it, and make the qrcode face you.", + "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.", + "Take the rectangular paymentsign with colorful top from the table, rotating it QR code toward you.", + "Use the right arm to grab the smooth beige paymentsign, lift, and turn it QR code forward", + "Using the right arm, catch the paymentsign showing QR code label and rotate it to face the QR code.", + "Lift the paymentsign resting on angled base and rotate until its qrcode faces you.", + "Catch the rectangular paymentsign with colorful top off the table and rotate its qrcode to you.", + "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.", + "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.", + "Slide the paymentsign with blue and white text off the table and turn it to face you.", + "Catch the rectangular paymentsign with colorful top with the right arm, then rotate it to make the QR code visible.", + "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.", + "Take the paymentsign resting on angled base, lift it, and orient it so the QR faces you", + "Grab the paymentsign with tilted rectangular panel using the right arm, then rotate the QR code to face forward." + ], + "unseen": [ + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode15.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..2e60a0d61dc90055feeda3d4c1b2202cc7acba01 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch and lift the white rectangular paymentsign with yellow details, then turn it to show the QR code.", + "Grab the paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the white paymentsign with raised base with the right arm, then rotate it to make the qrcode visible.", + "Catch the white stand sign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the rectangular paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Employ the right arm to seize the white paymentsign with raised base, raise it, and rotate it QR-forward", + "Lift the rectangular paymentsign with stand from the surface and adjust its angle towards you", + "Use the right arm to grab the tabletop paymentsign, rotate, and face the QR code towards you.", + "Grab the plastic smooth paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to pick the white stand sign and turn it towards you.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to show the QR code.", + "Take the white rectangular paymentsign with yellow details, lift it, and orient it so the QR faces you", + "Catch the sign with yellow payment section, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the paymentsign with QR code area, lift, and turn it QR code forward", + "Use the right arm to grab the yellow panel white paymentsign and rotate QR code towards you.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Grab the rectangular paymentsign with stand, lift it from the table, and rotate it QR front", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the yellow and white payment display and point its QR code toward you.", + "Catch the smooth plastic paymentsign with QR code off the table and rotate its qrcode to you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to take the yellow panel white paymentsign and turn it until the QR code faces you", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Grab the rectangular paymentsign with stand, pick it up, and turn its qrcode toward you.", + "Using the right arm, catch the white stand sign and rotate it to face the QR code.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it towards you", + "Lift the white rectangular paymentsign with yellow details and orient its QR code toward you with the right arm.", + "Take the white rectangular paymentsign with yellow details, raise it, and make the qrcode face you.", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Catch the paymentsign with QR code area, lift it, and adjust its QR code to face you.", + "Pick the sign with yellow payment section up, then rotate to make its qrcode visible.", + "Pick up the paymentsign with QR code area and adjust its position to face the qrcode towards you.", + "Slide the plastic smooth paymentsign off the table and turn it to face you.", + "Pick the white stand sign up and turn its QR code toward you using the right arm.", + "Grab the rectangular paymentsign with stand using the right arm, lift, and rotate until QR code faces you.", + "Catch the rectangular paymentsign with stand, lift it, and rotate it QR code facing.", + "Use the right arm to grab the yellow panel white paymentsign and rotate it until the QR faces forward", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Pick up the white paymentsign with raised base and rotate it so the QR code faces you", + "Use the right arm to grab the white stand sign and rotate the qrcode to face you.", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Lift the smooth plastic paymentsign with QR code and rotate for its qrcode to face you.", + "Lift the paymentsign with QR code area from the table and turn it to face you.", + "Use the right arm to lift the yellow panel white paymentsign from the table and face the qrcode.", + "Grab the white rectangular paymentsign with yellow details with the right arm, then rotate it to face yourself.", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Catch the tabletop paymentsign with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to lift the sign with yellow payment section and rotate it QR code toward you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and turn the qrcode towards you.", + "Take the white stand sign from the table, rotating it QR code toward you.", + "Catch and lift the tabletop paymentsign, then turn it to show the QR code.", + "Grab the white stand sign using the right arm, then rotate it until the qrcode faces you.", + "Lift the sign with yellow payment section with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign with QR code area using the right arm, pick it up, and turn it to face the QR code.", + "Catch the white rectangular paymentsign with yellow details, lift, and rotate to align the qrcode to you.", + "Employ the right arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Lift the tabletop paymentsign from the surface and adjust its angle towards you", + "Use the right arm to grab the tabletop paymentsign, rotate, and face the QR code towards you.", + "Grab the tabletop paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to pick the tabletop paymentsign and turn it towards you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to show the QR code.", + "Take the yellow panel white paymentsign, lift it, and orient it so the QR faces you", + "Catch the white rectangular paymentsign with yellow details, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the white rectangular paymentsign with yellow details, lift, and turn it QR code forward", + "Use the right arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Lift the white rectangular paymentsign with yellow details and rotate until its qrcode faces you.", + "Grab the sign with yellow payment section, lift it from the table, and rotate it QR front", + "Catch the yellow panel white paymentsign, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the sign with yellow payment section and point its QR code toward you.", + "Catch the yellow panel white paymentsign off the table and rotate its qrcode to you.", + "Pick the white stand sign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Find the plastic smooth paymentsign, grab it, and turn it towards yourself.", + "Grab the white rectangular paymentsign with yellow details, pick it up, and turn its qrcode toward you.", + "Using the right arm, catch the yellow panel white paymentsign and rotate it to face the QR code.", + "Lift the white rectangular paymentsign with yellow details from the table and rotate it towards you", + "Lift the smooth plastic paymentsign with QR code and orient its QR code toward you with the right arm.", + "Take the white stand sign, raise it, and make the qrcode face you.", + "Lift the paymentsign with QR code area and rotate it until the QR code faces you.", + "Catch the white stand sign, lift it, and adjust its QR code to face you.", + "Pick the smooth plastic paymentsign with QR code up, then rotate to make its qrcode visible.", + "Pick up the white rectangular paymentsign with yellow details and adjust its position to face the qrcode towards you.", + "Slide the paymentsign off the table and turn it to face you.", + "Pick the white rectangular paymentsign with yellow details up and turn its QR code toward you using the right arm.", + "Grab the paymentsign with QR code area using the right arm, lift, and rotate until QR code faces you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and rotate it QR code facing.", + "Use the right arm to grab the white stand sign and rotate it until the QR faces forward", + "Locate the smooth plastic paymentsign with QR code, pick it up, and adjust its angle.", + "Pick up the paymentsign with QR code area and rotate it so the QR code faces you", + "Use the right arm to grab the white paymentsign with raised base and rotate the qrcode to face you.", + "Lift the white stand sign from the table and rotate it so the code faces you.", + "Lift the yellow and white payment display and rotate for its qrcode to face you.", + "Lift the white rectangular paymentsign with yellow details from the table and turn it to face you.", + "Use the right arm to lift the paymentsign with QR code area from the table and face the qrcode.", + "Grab the white rectangular paymentsign with yellow details with the right arm, then rotate it to face yourself.", + "Lift the paymentsign with QR code area from the table, turning it QR code forward.", + "Catch the smooth plastic paymentsign with QR code with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to lift the white stand sign and rotate it QR code toward you.", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Take the white paymentsign with raised base from the table, rotating it QR code toward you." + ], + "unseen": [ + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode16.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..22c3f71c9464678347994862fd773c6d39083796 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Employ the left arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Catch the tabletop paymentsign off the table and rotate its qrcode to you.", + "Grab the rectangular paymentsign with stand with the left arm, then rotate it to face yourself.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Use the left arm to grab the yellow panel white paymentsign and rotate QR code towards you.", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and rotate it QR code facing.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it so the code faces you.", + "Use the left arm to lift the paymentsign from the table and face the qrcode.", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the rectangular paymentsign with stand, rotate, and face the QR code towards you.", + "Find the paymentsign with QR code area, grab it, and turn it towards yourself.", + "Lift the white stand sign and rotate it until the QR code faces you.", + "Catch and lift the plastic smooth paymentsign, then turn it to show the QR code.", + "Use the left arm to take the rectangular paymentsign with stand and turn it until the QR code faces you", + "Grab the sign with yellow payment section using the left arm, then rotate it until the qrcode faces you.", + "Catch the plastic smooth paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the yellow panel white paymentsign with the left arm, then rotate it to make the QR code visible.", + "Grab the yellow and white payment display using the left arm, lift, and rotate until QR code faces you.", + "Catch the smooth plastic paymentsign with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Pick the white paymentsign with raised base up, rotate it, and ensure the QR code faces you.", + "Lift the sign with yellow payment section from the surface and adjust its angle towards you", + "Grab the paymentsign with QR code area using the left arm, then rotate the QR code to face forward.", + "Lift the plastic smooth paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Lift the white paymentsign with raised base and rotate for its qrcode to face you.", + "Pick the plastic smooth paymentsign up, then rotate to make its qrcode visible.", + "Use the left arm to grab the sign with yellow payment section and rotate it until the QR faces forward", + "Grab the white rectangular paymentsign with yellow details, lift it from the table, and rotate it QR front", + "Catch the white paymentsign with raised base, lift it, and adjust its QR code to face you.", + "Use the left arm to lift the plastic smooth paymentsign and rotate it QR code toward you.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Slide the yellow panel white paymentsign off the table and turn it to face you.", + "Pick up the paymentsign and rotate it so the QR code faces you", + "Pick up the sign with yellow payment section and adjust its position to face the qrcode towards you.", + "Pick the rectangular paymentsign with stand up and turn its QR code toward you using the left arm.", + "Take the paymentsign with QR code area, lift it, and orient it so the QR faces you", + "Use the left arm to grab the plastic smooth paymentsign, lift, and turn it QR code forward", + "Catch the yellow panel white paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the yellow and white payment display from the table and turn it to face you.", + "Take the plastic smooth paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to pick the paymentsign and turn it towards you.", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Lift the sign with yellow payment section and orient its QR code toward you with the left arm.", + "Lift the white paymentsign with raised base from the table and rotate it towards you", + "Using the left arm, catch the paymentsign and rotate it to face the QR code.", + "Lift the white rectangular paymentsign with yellow details and rotate until its qrcode faces you.", + "Locate the smooth plastic paymentsign with QR code, pick it up, and adjust its angle.", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Catch the white rectangular paymentsign with yellow details, raise it, and turn it so the QR code faces you", + "Catch the paymentsign with QR code area, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the rectangular paymentsign with stand, raise it, and rotate it QR-forward", + "Catch the sign with yellow payment section off the table and rotate its qrcode to you.", + "Grab the yellow panel white paymentsign with the left arm, then rotate it to face yourself.", + "Take the yellow and white payment display from the table, rotating it QR code toward you.", + "Use the left arm to grab the sign with yellow payment section and rotate QR code towards you.", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the sign with yellow payment section, lift it, and rotate it QR code facing.", + "Lift the rectangular paymentsign with stand from the table and rotate it so the code faces you.", + "Use the left arm to lift the paymentsign from the table and face the qrcode.", + "Catch the white stand sign, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the yellow panel white paymentsign, rotate, and face the QR code towards you.", + "Find the smooth plastic paymentsign with QR code, grab it, and turn it towards yourself.", + "Lift the rectangular paymentsign with stand and rotate it until the QR code faces you.", + "Catch and lift the sign with yellow payment section, then turn it to show the QR code.", + "Use the left arm to take the yellow panel white paymentsign and turn it until the QR code faces you", + "Grab the yellow panel white paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with QR code area, lift, and rotate to align the qrcode to you.", + "Catch the white paymentsign with raised base with the left arm, then rotate it to make the QR code visible.", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Catch the white rectangular paymentsign with yellow details using the left arm, pick it up, and turn it to face the QR code.", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Grab the white stand sign using the left arm, then rotate the QR code to face forward.", + "Lift the sign with yellow payment section with the left arm, then rotate it to make the qrcode visible.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Pick the rectangular paymentsign with stand up, then rotate to make its qrcode visible.", + "Use the left arm to grab the white stand sign and rotate it until the QR faces forward", + "Grab the yellow and white payment display, lift it from the table, and rotate it QR front", + "Catch the white stand sign, lift it, and adjust its QR code to face you.", + "Use the left arm to lift the white stand sign and rotate it QR code toward you.", + "Lift the white paymentsign with raised base from the table, turning it QR code forward.", + "Slide the white paymentsign with raised base off the table and turn it to face you.", + "Pick up the white stand sign and rotate it so the QR code faces you", + "Pick up the white stand sign and adjust its position to face the qrcode towards you.", + "Pick the sign with yellow payment section up and turn its QR code toward you using the left arm.", + "Take the smooth plastic paymentsign with QR code, lift it, and orient it so the QR faces you", + "Use the left arm to grab the smooth plastic paymentsign with QR code, lift, and turn it QR code forward", + "Catch the paymentsign with QR code area, pick it up, and rotate to view the qrcode.", + "Lift the smooth plastic paymentsign with QR code from the table and turn it to face you.", + "Take the white paymentsign with raised base, raise it, and make the qrcode face you.", + "Use the left arm to pick the plastic smooth paymentsign and turn it towards you.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and point its QR code toward you.", + "Lift the sign with yellow payment section and orient its QR code toward you with the left arm.", + "Lift the yellow and white payment display from the table and rotate it towards you", + "Using the left arm, catch the white paymentsign with raised base and rotate it to face the QR code.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Locate the white rectangular paymentsign with yellow details, pick it up, and adjust its angle.", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Catch the paymentsign with QR code area, raise it, and turn it so the QR code faces you", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to show the QR code." + ], + "unseen": [ + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode17.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..43765b6556869159b81e64122c5d3c99293a4a6d --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the rectangular paymentsign with colorful top off the table and rotate its qrcode to you.", + "Catch the QR code paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the left arm.", + "Take the smooth beige paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign showing QR code label with the left arm, then rotate it to make the qrcode visible.", + "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.", + "Lift the small paymentsign for mobile payments from the table and turn it to face you.", + "Use the left arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Use the left arm to lift the paymentsign showing QR code label from the table and face the qrcode.", + "Employ the left arm to seize the beige paymentsign with printed details, raise it, and rotate it QR-forward", + "Use the left arm to take the paymentsign showing QR code label and turn it until the QR code faces you", + "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.", + "Catch the beige paymentsign, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the paymentsign with blue and white text and rotate it until the QR faces forward", + "Use the left arm to grab the paymentsign showing QR code label and point its QR code toward you.", + "Lift the paymentsign with tilted rectangular panel and rotate until its qrcode faces you.", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Lift the paymentsign showing QR code label from the surface and adjust its angle towards you", + "Lift the smooth beige paymentsign and orient its QR code toward you with the left arm.", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Grab the paymentsign with tilted rectangular panel using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate the qrcode to face you.", + "Use the left arm to lift the paymentsign showing QR code label and rotate it QR code toward you.", + "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Grab the paymentsign with blue and white text with the left arm, then rotate it to face yourself.", + "Pick the compact paymentsign for scanning payments up, then rotate to make its qrcode visible.", + "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.", + "Slide the beige paymentsign off the table and turn it to face you.", + "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the paymentsign resting on angled base, lift, and turn it QR code forward", + "Lift the stand-up paymentsign with rectangular top from the table, turning it QR code forward.", + "Use the left arm to grab the beige paymentsign and rotate QR code towards you.", + "Using the left arm, catch the smooth beige paymentsign and rotate it to face the QR code.", + "Grab the beige paymentsign with printed details using the left arm, lift, and rotate until QR code faces you.", + "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.", + "Grab the paymentsign showing QR code label using the left arm, then rotate the QR code to face forward.", + "Locate the paymentsign with tilted rectangular panel, pick it up, and adjust its angle.", + "Find the beige paymentsign, grab it, and turn it towards yourself.", + "Catch the paymentsign resting on angled base with the left arm, then rotate it to make the QR code visible.", + "Lift the stand-up paymentsign with rectangular top and rotate for its qrcode to face you.", + "Take the paymentsign with blue and white text, raise it, and make the qrcode face you.", + "Pick up the rectangular paymentsign with colorful top and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Catch the paymentsign with tilted rectangular panel off the table and rotate its qrcode to you.", + "Catch the paymentsign with blue and white text using the left arm, pick it up, and turn it to face the QR code.", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Pick the compact paymentsign for scanning payments up and turn its QR code toward you using the left arm.", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign with tilted rectangular panel with the left arm, then rotate it to make the qrcode visible.", + "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.", + "Lift the compact paymentsign for scanning payments from the table and turn it to face you.", + "Use the left arm to pick the QR code paymentsign and turn it towards you.", + "Use the left arm to lift the compact paymentsign for scanning payments from the table and face the qrcode.", + "Employ the left arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward", + "Use the left arm to take the QR code paymentsign and turn it until the QR code faces you", + "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Use the left arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.", + "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.", + "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you", + "Lift the beige paymentsign from the surface and adjust its angle towards you", + "Lift the paymentsign resting on angled base and orient its QR code toward you with the left arm.", + "Catch the beige paymentsign, lift it, and turn the qrcode towards you.", + "Lift the small paymentsign for mobile payments from the table and rotate it so the code faces you.", + "Lift the paymentsign with blue and white text and rotate it until the QR code faces you.", + "Grab the beige paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the stand-up paymentsign with rectangular top, lift it, and rotate it QR code facing.", + "Use the left arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Use the left arm to lift the beige paymentsign and rotate it QR code toward you.", + "Take the QR code paymentsign, lift it, and orient it so the QR faces you", + "Lift the paymentsign resting on angled base from the table and rotate it towards you", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you", + "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Catch and lift the beige paymentsign with printed details, then turn it to show the QR code.", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward", + "Lift the paymentsign resting on angled base from the table, turning it QR code forward.", + "Use the left arm to grab the paymentsign resting on angled base and rotate QR code towards you.", + "Using the left arm, catch the smooth beige paymentsign and rotate it to face the QR code.", + "Grab the paymentsign showing QR code label using the left arm, lift, and rotate until QR code faces you.", + "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.", + "Grab the beige paymentsign using the left arm, then rotate the QR code to face forward.", + "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.", + "Find the small paymentsign for mobile payments, grab it, and turn it towards yourself.", + "Catch the smooth beige paymentsign with the left arm, then rotate it to make the QR code visible.", + "Lift the paymentsign showing QR code label and rotate for its qrcode to face you.", + "Take the beige paymentsign, raise it, and make the qrcode face you.", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the paymentsign with blue and white text, rotate, and face the QR code towards you." + ], + "unseen": [ + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode18.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..4feda27fe52e93cc0df5d88008b451de89fa5adc --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic smooth paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Employ the left arm to seize the yellow and white payment display, raise it, and rotate it QR-forward", + "Pick up the sign with yellow payment section and adjust its position to face the qrcode towards you.", + "Catch the tabletop paymentsign, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the tabletop paymentsign, rotate, and face the QR code towards you.", + "Grab the sign with yellow payment section using the left arm, then rotate the QR code to face forward.", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and adjust its QR code to face you.", + "Catch the white rectangular paymentsign with yellow details with the left arm, then rotate it to make the QR code visible.", + "Pick up the white rectangular paymentsign with yellow details and rotate it so the QR code faces you", + "Lift the yellow and white payment display and rotate for its qrcode to face you.", + "Catch the white stand sign, lift it, and rotate it QR code facing.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate QR code towards you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Lift the plastic smooth paymentsign and orient its QR code toward you with the left arm.", + "Use the left arm to grab the yellow and white payment display, lift, and turn it QR code forward", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the plastic smooth paymentsign, lift it from the table, and rotate it QR front", + "Find the rectangular paymentsign with stand, grab it, and turn it towards yourself.", + "Pick the white paymentsign with raised base up, then rotate to make its qrcode visible.", + "Lift the sign with yellow payment section and rotate it until the QR code faces you.", + "Using the left arm, catch the yellow panel white paymentsign and rotate it to face the QR code.", + "Lift the yellow panel white paymentsign from the table, turning it QR code forward.", + "Use the left arm to lift the white paymentsign with raised base and rotate it QR code toward you.", + "Use the left arm to grab the paymentsign with QR code area and point its QR code toward you.", + "Take the white stand sign, raise it, and make the qrcode face you.", + "Use the left arm to pick the white rectangular paymentsign with yellow details and turn it towards you.", + "Slide the smooth plastic paymentsign with QR code off the table and turn it to face you.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Take the yellow panel white paymentsign from the table, rotating it QR code toward you.", + "Use the left arm to grab the white paymentsign with raised base and rotate the qrcode to face you.", + "Locate the yellow and white payment display, pick it up, and adjust its angle.", + "Pick the sign with yellow payment section up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the white paymentsign with raised base and rotate it until the QR faces forward", + "Lift the smooth plastic paymentsign with QR code from the surface and adjust its angle towards you", + "Grab the yellow panel white paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the yellow and white payment display from the table and face the qrcode.", + "Take the white rectangular paymentsign with yellow details, lift it, and orient it so the QR faces you", + "Grab the plastic smooth paymentsign with the left arm, then rotate it to face yourself.", + "Grab the rectangular paymentsign with stand using the left arm, lift, and rotate until QR code faces you.", + "Lift the rectangular paymentsign with stand from the table and turn it to face you.", + "Use the left arm to take the paymentsign with QR code area and turn it until the QR code faces you", + "Lift the paymentsign with QR code area with the left arm, then rotate it to make the qrcode visible.", + "Lift the white stand sign from the table and rotate it so the code faces you.", + "Catch the white stand sign, pick it up, and rotate to show the QR code.", + "Catch and lift the yellow and white payment display, then turn it to show the QR code.", + "Catch the white stand sign, lift, and rotate to align the qrcode to you.", + "Lift the white stand sign from the table and rotate it towards you", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Grab the tabletop paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Employ the left arm to seize the white rectangular paymentsign with yellow details, raise it, and rotate it QR-forward", + "Pick up the yellow panel white paymentsign and adjust its position to face the qrcode towards you.", + "Catch the sign with yellow payment section, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the yellow panel white paymentsign, rotate, and face the QR code towards you.", + "Grab the yellow and white payment display using the left arm, then rotate the QR code to face forward.", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Catch the white stand sign, lift it, and adjust its QR code to face you.", + "Catch the rectangular paymentsign with stand with the left arm, then rotate it to make the QR code visible.", + "Pick up the white rectangular paymentsign with yellow details and rotate it so the QR code faces you", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Catch the white stand sign, lift it, and rotate it QR code facing.", + "Use the left arm to grab the white stand sign and rotate QR code towards you.", + "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you", + "Lift the rectangular paymentsign with stand and orient its QR code toward you with the left arm.", + "Use the left arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Pick the white stand sign up, rotate it, and ensure the QR code faces you.", + "Grab the sign with yellow payment section, lift it from the table, and rotate it QR front", + "Find the white stand sign, grab it, and turn it towards yourself.", + "Pick the sign with yellow payment section up, then rotate to make its qrcode visible.", + "Lift the yellow and white payment display and rotate it until the QR code faces you.", + "Using the left arm, catch the white paymentsign with raised base and rotate it to face the QR code.", + "Lift the smooth plastic paymentsign with QR code from the table, turning it QR code forward.", + "Use the left arm to lift the yellow panel white paymentsign and rotate it QR code toward you.", + "Use the left arm to grab the yellow and white payment display and point its QR code toward you.", + "Take the smooth plastic paymentsign with QR code, raise it, and make the qrcode face you.", + "Use the left arm to pick the tabletop paymentsign and turn it towards you.", + "Slide the paymentsign off the table and turn it to face you.", + "Lift the rectangular paymentsign with stand and rotate until its qrcode faces you.", + "Take the smooth plastic paymentsign with QR code from the table, rotating it QR code toward you.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate the qrcode to face you.", + "Locate the yellow panel white paymentsign, pick it up, and adjust its angle.", + "Pick the sign with yellow payment section up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate it until the QR faces forward", + "Lift the smooth plastic paymentsign with QR code from the surface and adjust its angle towards you", + "Grab the white rectangular paymentsign with yellow details, pick it up, and turn its qrcode toward you.", + "Catch the sign with yellow payment section, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the white paymentsign with raised base from the table and face the qrcode.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Grab the rectangular paymentsign with stand with the left arm, then rotate it to face yourself.", + "Grab the white paymentsign with raised base using the left arm, lift, and rotate until QR code faces you.", + "Lift the sign with yellow payment section from the table and turn it to face you.", + "Use the left arm to take the white rectangular paymentsign with yellow details and turn it until the QR code faces you", + "Lift the sign with yellow payment section with the left arm, then rotate it to make the qrcode visible.", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Catch the sign with yellow payment section, pick it up, and rotate to show the QR code.", + "Catch and lift the plastic smooth paymentsign, then turn it to show the QR code.", + "Catch the smooth plastic paymentsign with QR code, lift, and rotate to align the qrcode to you.", + "Lift the rectangular paymentsign with stand from the table and rotate it towards you", + "Catch the paymentsign with QR code area using the left arm, pick it up, and turn it to face the QR code." + ], + "unseen": [ + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode19.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..fc3fa2ac8cab02f3fe1d99cd50a5751a6237cf7b --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the white stand sign, pick it up, and turn its qrcode toward you.", + "Grab the tabletop paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Pick up the plastic smooth paymentsign and rotate it so the QR code faces you", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Lift the tabletop paymentsign from the surface and adjust its angle towards you", + "Lift the rectangular paymentsign with stand and orient its QR code toward you with the right arm.", + "Use the right arm to grab the paymentsign with QR code area and point its QR code toward you.", + "Pick up the white paymentsign with raised base and adjust its position to face the qrcode towards you.", + "Grab the tabletop paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to pick the paymentsign and turn it towards you.", + "Catch the yellow and white payment display, pick it up, and rotate to show the QR code.", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Catch the yellow panel white paymentsign, pick it up, and rotate to view the qrcode.", + "Pick the white rectangular paymentsign with yellow details up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the paymentsign and rotate QR code towards you.", + "Use the right arm to lift the white paymentsign with raised base from the table and face the qrcode.", + "Locate the smooth plastic paymentsign with QR code, pick it up, and adjust its angle.", + "Lift the paymentsign with QR code area from the table and turn it to face you.", + "Catch and lift the tabletop paymentsign, then turn it to show the QR code.", + "Find the sign with yellow payment section, grab it, and turn it towards yourself.", + "Catch the rectangular paymentsign with stand off the table and rotate its qrcode to you.", + "Catch the white rectangular paymentsign with yellow details, raise it, and turn it so the QR code faces you", + "Using the right arm, catch the smooth plastic paymentsign with QR code and rotate it to face the QR code.", + "Pick the plastic smooth paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign with QR code area from the table and rotate it so the code faces you.", + "Catch the tabletop paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the white rectangular paymentsign with yellow details using the right arm, pick it up, and turn it to face the QR code.", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Take the white rectangular paymentsign with yellow details, lift it, and orient it so the QR faces you", + "Catch the white paymentsign with raised base, lift it, and rotate it QR code facing.", + "Grab the paymentsign with QR code area with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the plastic smooth paymentsign, rotate, and face the QR code towards you.", + "Pick the rectangular paymentsign with stand up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the plastic smooth paymentsign and rotate it until the QR faces forward", + "Use the right arm to grab the white stand sign and rotate the qrcode to face you.", + "Employ the right arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Catch the sign with yellow payment section, lift it, and adjust its QR code to face you.", + "Lift the white rectangular paymentsign with yellow details from the table and rotate it towards you", + "Use the right arm to lift the yellow and white payment display and rotate it QR code toward you.", + "Lift the yellow panel white paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Take the plastic smooth paymentsign from the table, rotating it QR code toward you.", + "Take the tabletop paymentsign, raise it, and make the qrcode face you.", + "Lift the paymentsign with QR code area from the table, turning it QR code forward.", + "Use the right arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Lift the yellow panel white paymentsign and rotate it until the QR code faces you.", + "Catch the tabletop paymentsign with the right arm, then rotate it to make the QR code visible.", + "Slide the smooth plastic paymentsign with QR code off the table and turn it to face you.", + "Use the right arm to take the rectangular paymentsign with stand and turn it until the QR code faces you", + "Grab the smooth plastic paymentsign with QR code using the right arm, lift, and rotate until QR code faces you.", + "Grab the paymentsign with QR code area, lift it from the table, and rotate it QR front", + "Grab the paymentsign with QR code area, pick it up, and turn its qrcode toward you.", + "Grab the tabletop paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Pick up the paymentsign and rotate it so the QR code faces you", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Lift the sign with yellow payment section from the surface and adjust its angle towards you", + "Lift the white stand sign and orient its QR code toward you with the right arm.", + "Use the right arm to grab the smooth plastic paymentsign with QR code and point its QR code toward you.", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Grab the yellow and white payment display using the right arm, then rotate the QR code to face forward.", + "Use the right arm to pick the tabletop paymentsign and turn it towards you.", + "Catch the yellow panel white paymentsign, pick it up, and rotate to show the QR code.", + "Lift the smooth plastic paymentsign with QR code and rotate for its qrcode to face you.", + "Catch the sign with yellow payment section, pick it up, and rotate to view the qrcode.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the plastic smooth paymentsign and rotate QR code towards you.", + "Use the right arm to lift the smooth plastic paymentsign with QR code from the table and face the qrcode.", + "Locate the plastic smooth paymentsign, pick it up, and adjust its angle.", + "Lift the plastic smooth paymentsign from the table and turn it to face you.", + "Catch and lift the sign with yellow payment section, then turn it to show the QR code.", + "Find the white rectangular paymentsign with yellow details, grab it, and turn it towards yourself.", + "Catch the yellow panel white paymentsign off the table and rotate its qrcode to you.", + "Catch the white paymentsign with raised base, raise it, and turn it so the QR code faces you", + "Using the right arm, catch the smooth plastic paymentsign with QR code and rotate it to face the QR code.", + "Pick the smooth plastic paymentsign with QR code up, then rotate to make its qrcode visible.", + "Lift the rectangular paymentsign with stand from the table and rotate it so the code faces you.", + "Catch the rectangular paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Catch the rectangular paymentsign with stand using the right arm, pick it up, and turn it to face the QR code.", + "Catch the white rectangular paymentsign with yellow details, lift it, and turn the qrcode towards you.", + "Take the rectangular paymentsign with stand, lift it, and orient it so the QR faces you", + "Catch the white paymentsign with raised base, lift it, and rotate it QR code facing.", + "Grab the white stand sign with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the yellow and white payment display, rotate, and face the QR code towards you.", + "Pick the paymentsign with QR code area up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the paymentsign with QR code area and rotate it until the QR faces forward", + "Use the right arm to grab the yellow panel white paymentsign and rotate the qrcode to face you.", + "Employ the right arm to seize the white paymentsign with raised base, raise it, and rotate it QR-forward", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Use the right arm to lift the white paymentsign with raised base and rotate it QR code toward you.", + "Lift the rectangular paymentsign with stand with the right arm, then rotate it to make the qrcode visible.", + "Take the yellow panel white paymentsign from the table, rotating it QR code toward you.", + "Take the paymentsign with QR code area, raise it, and make the qrcode face you.", + "Lift the white stand sign from the table, turning it QR code forward.", + "Use the right arm to grab the white paymentsign with raised base, lift, and turn it QR code forward", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Catch the yellow panel white paymentsign with the right arm, then rotate it to make the QR code visible.", + "Slide the white rectangular paymentsign with yellow details off the table and turn it to face you.", + "Use the right arm to take the smooth plastic paymentsign with QR code and turn it until the QR code faces you", + "Grab the white stand sign using the right arm, lift, and rotate until QR code faces you.", + "Grab the yellow panel white paymentsign, lift it from the table, and rotate it QR front" + ], + "unseen": [ + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode2.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..32aaa55e52e738488eaa277ea95df5ffc57aa0c9 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow and white payment display and orient its QR code toward you with the left arm.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Use the left arm to pick the sign with yellow payment section and turn it towards you.", + "Catch the paymentsign with QR code area, pick it up, and rotate to show the QR code.", + "Catch and lift the plastic smooth paymentsign, then turn it to show the QR code.", + "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you", + "Lift the paymentsign and rotate it until the QR code faces you.", + "Locate the white paymentsign with raised base, pick it up, and adjust its angle.", + "Use the left arm to lift the white stand sign and rotate it QR code toward you.", + "Lift the yellow panel white paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Lift the sign with yellow payment section from the table, turning it QR code forward.", + "Use the left arm to grab the white paymentsign with raised base and rotate QR code towards you.", + "Lift the paymentsign with QR code area from the table and rotate it so the code faces you.", + "Pick up the rectangular paymentsign with stand and adjust its position to face the qrcode towards you.", + "Pick up the rectangular paymentsign with stand and rotate it so the QR code faces you", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Grab the white rectangular paymentsign with yellow details using the left arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Lift the white paymentsign with raised base and rotate until its qrcode faces you.", + "Pick the smooth plastic paymentsign with QR code up, rotate it, and ensure the QR code faces you.", + "Lift the white stand sign from the table and rotate it towards you", + "Catch the tabletop paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Using the left arm, catch the smooth plastic paymentsign with QR code and rotate it to face the QR code.", + "Catch the paymentsign with QR code area with the left arm, then rotate it to make the QR code visible.", + "Take the white paymentsign with raised base, raise it, and make the qrcode face you.", + "Find the smooth plastic paymentsign with QR code, grab it, and turn it towards yourself.", + "Slide the plastic smooth paymentsign off the table and turn it to face you.", + "Lift the sign with yellow payment section from the surface and adjust its angle towards you", + "Pick the paymentsign with QR code area up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the sign with yellow payment section and rotate it until the QR faces forward", + "Use the left arm to take the yellow panel white paymentsign and turn it until the QR code faces you", + "Use the left arm to lift the white rectangular paymentsign with yellow details from the table and face the qrcode.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Employ the left arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Catch the yellow panel white paymentsign, lift it, and adjust its QR code to face you.", + "Catch the white stand sign off the table and rotate its qrcode to you.", + "Grab the yellow and white payment display with the left arm, then rotate it to face yourself.", + "Take the smooth plastic paymentsign with QR code from the table, rotating it QR code toward you.", + "Lift the paymentsign from the table and turn it to face you.", + "Grab the white rectangular paymentsign with yellow details using the left arm, then rotate the QR code to face forward.", + "Grab the plastic smooth paymentsign, lift it from the table, and rotate it QR front", + "Grab the smooth plastic paymentsign with QR code, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and point its QR code toward you.", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the plastic smooth paymentsign, rotate, and face the QR code towards you.", + "Catch the paymentsign with QR code area, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the white paymentsign with raised base and rotate the qrcode to face you.", + "Catch the tabletop paymentsign, lift it, and rotate it QR code facing.", + "Lift the white rectangular paymentsign with yellow details and orient its QR code toward you with the left arm.", + "Use the left arm to grab the sign with yellow payment section, lift, and turn it QR code forward", + "Use the left arm to pick the tabletop paymentsign and turn it towards you.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to show the QR code.", + "Catch and lift the sign with yellow payment section, then turn it to show the QR code.", + "Catch the plastic smooth paymentsign, raise it, and turn it so the QR code faces you", + "Lift the white stand sign and rotate it until the QR code faces you.", + "Locate the white stand sign, pick it up, and adjust its angle.", + "Use the left arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Lift the tabletop paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Lift the white paymentsign with raised base from the table, turning it QR code forward.", + "Use the left arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Lift the rectangular paymentsign with stand from the table and rotate it so the code faces you.", + "Pick up the white stand sign and adjust its position to face the qrcode towards you.", + "Pick up the sign with yellow payment section and rotate it so the QR code faces you", + "Lift the plastic smooth paymentsign and rotate for its qrcode to face you.", + "Grab the paymentsign with QR code area using the left arm, then rotate it until the qrcode faces you.", + "Grab the tabletop paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Take the plastic smooth paymentsign, lift it, and orient it so the QR faces you", + "Lift the white rectangular paymentsign with yellow details and rotate until its qrcode faces you.", + "Pick the yellow panel white paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign with QR code area from the table and rotate it towards you", + "Catch the tabletop paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Using the left arm, catch the yellow and white payment display and rotate it to face the QR code.", + "Catch the rectangular paymentsign with stand with the left arm, then rotate it to make the QR code visible.", + "Take the yellow and white payment display, raise it, and make the qrcode face you.", + "Find the sign with yellow payment section, grab it, and turn it towards yourself.", + "Slide the yellow and white payment display off the table and turn it to face you.", + "Lift the yellow and white payment display from the surface and adjust its angle towards you", + "Pick the rectangular paymentsign with stand up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and rotate it until the QR faces forward", + "Use the left arm to take the white rectangular paymentsign with yellow details and turn it until the QR code faces you", + "Use the left arm to lift the plastic smooth paymentsign from the table and face the qrcode.", + "Pick the yellow and white payment display up, then rotate to make its qrcode visible.", + "Employ the left arm to seize the smooth plastic paymentsign with QR code, raise it, and rotate it QR-forward", + "Catch the rectangular paymentsign with stand, lift it, and adjust its QR code to face you.", + "Catch the tabletop paymentsign off the table and rotate its qrcode to you.", + "Grab the yellow panel white paymentsign with the left arm, then rotate it to face yourself.", + "Take the rectangular paymentsign with stand from the table, rotating it QR code toward you.", + "Lift the rectangular paymentsign with stand from the table and turn it to face you.", + "Grab the rectangular paymentsign with stand using the left arm, then rotate the QR code to face forward.", + "Grab the white rectangular paymentsign with yellow details, lift it from the table, and rotate it QR front", + "Grab the white rectangular paymentsign with yellow details, pick it up, and turn its qrcode toward you.", + "Catch the yellow panel white paymentsign, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the sign with yellow payment section and point its QR code toward you.", + "Catch the white stand sign, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the sign with yellow payment section, rotate, and face the QR code towards you.", + "Catch the white stand sign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the paymentsign with QR code area and rotate the qrcode to face you.", + "Catch the plastic smooth paymentsign, lift it, and rotate it QR code facing." + ], + "unseen": [ + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode20.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..27f1eed5de9f6ac3cd5982d8b25cd79323da9389 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Slide the payment sign with angled face off the table and turn it to face you.", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Lift the tabletop-sized payment sign from the table and rotate it so the code faces you.", + "Lift the green payment logo on gray top from the table, turning it QR code forward.", + "Pick up the small black stand for payments and rotate it so the QR code faces you", + "Pick the payment sign with green logo up and turn its QR code toward you using the left arm.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Lift the triangular stand with QR code from the surface and adjust its angle towards you", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Pick the slanted gray panel for QR code scan up, then rotate to make its qrcode visible.", + "Grab the gray top with QR code using the left arm, then rotate the QR code to face forward.", + "Lift the tabletop-sized payment sign and rotate until its qrcode faces you.", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Catch the green payment logo on gray top, raise it, and turn it so the QR code faces you", + "Find the small payment stand with black base, grab it, and turn it towards yourself.", + "Use the left arm to lift the small payment stand with black base from the table and face the qrcode.", + "Catch the payment sign with angled face with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to pick the payment sign with angled face and turn it towards you.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Lift the paymentsign from the table and rotate it towards you", + "Grab the tabletop-sized payment sign, pick it up, and turn its qrcode toward you.", + "Employ the left arm to seize the tabletop-sized payment sign, raise it, and rotate it QR-forward", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the small payment stand with black base and rotate it until the QR faces forward", + "Catch the tabletop-sized payment sign, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the small black stand for payments and point its QR code toward you.", + "Take the gray slanted panel with text, raise it, and make the qrcode face you.", + "Use the left arm to grab the green payment logo on gray top and rotate QR code towards you.", + "Lift the green payment logo on gray top from the table and turn it to face you.", + "Use the left arm to grab the gray top with QR code, rotate, and face the QR code towards you.", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Use the left arm to take the small black stand for payments and turn it until the QR code faces you", + "Grab the payment sign with green logo, lift it from the table, and rotate it QR front", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Lift the gray slanted panel with text and rotate for its qrcode to face you.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Grab the green payment logo on gray top using the left arm, then rotate it until the qrcode faces you.", + "Catch the black base with tilted gray panel off the table and rotate its qrcode to you.", + "Use the left arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Lift the small payment stand with black base and rotate it until the QR code faces you.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Grab the green payment logo on gray top with the left arm, then rotate it to face yourself.", + "Catch the gray slanted panel with text, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the small black stand for payments and rotate the qrcode to face you.", + "Using the left arm, catch the paymentsign and rotate it to face the QR code.", + "Lift the green payment logo on gray top and orient its QR code toward you with the left arm.", + "Catch the small black stand for payments using the left arm, pick it up, and turn it to face the QR code.", + "Take the small payment stand with black base from the table, rotating it QR code toward you.", + "Lift the small black stand for payments with the left arm, then rotate it to make the qrcode visible.", + "Slide the slanted gray panel for QR code scan off the table and turn it to face you.", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Lift the slanted gray panel for QR code scan from the table, turning it QR code forward.", + "Pick up the slanted gray panel for QR code scan and rotate it so the QR code faces you", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the left arm.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Pick the black base with tilted gray panel up, rotate it, and ensure the QR code faces you.", + "Pick the triangular stand with QR code up, then rotate to make its qrcode visible.", + "Grab the payment sign with angled face using the left arm, then rotate the QR code to face forward.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Grab the payment sign with green logo using the left arm, lift, and rotate until QR code faces you.", + "Catch the triangular stand with QR code, raise it, and turn it so the QR code faces you", + "Find the slanted gray panel for QR code scan, grab it, and turn it towards yourself.", + "Use the left arm to lift the gray slanted panel with text from the table and face the qrcode.", + "Catch the black base with tilted gray panel with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to pick the payment sign with angled face and turn it towards you.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Lift the slanted gray panel for QR code scan from the table and rotate it towards you", + "Grab the green payment logo on gray top, pick it up, and turn its qrcode toward you.", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Catch the triangular stand with QR code, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the small payment stand with black base and point its QR code toward you.", + "Take the tabletop-sized payment sign, raise it, and make the qrcode face you.", + "Use the left arm to grab the tabletop-sized payment sign and rotate QR code towards you.", + "Lift the tabletop-sized payment sign from the table and turn it to face you.", + "Use the left arm to grab the green payment logo on gray top, rotate, and face the QR code towards you.", + "Use the left arm to lift the small black stand for payments and rotate it QR code toward you.", + "Use the left arm to take the small black stand for payments and turn it until the QR code faces you", + "Grab the gray slanted panel with text, lift it from the table, and rotate it QR front", + "Pick up the gray slanted panel with text and adjust its position to face the qrcode towards you.", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Catch the tabletop-sized payment sign, lift it, and turn the qrcode towards you.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Catch the payment sign with green logo off the table and rotate its qrcode to you.", + "Use the left arm to grab the gray slanted panel with text, lift, and turn it QR code forward", + "Lift the slanted gray panel for QR code scan and rotate it until the QR code faces you.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Grab the green payment logo on gray top with the left arm, then rotate it to face yourself.", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the tabletop-sized payment sign and rotate the qrcode to face you.", + "Using the left arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Lift the gray top with QR code and orient its QR code toward you with the left arm.", + "Catch the green payment logo on gray top using the left arm, pick it up, and turn it to face the QR code.", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Lift the gray top with QR code with the left arm, then rotate it to make the qrcode visible." + ], + "unseen": [ + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode21.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..d15157a8f8eb124b3580af1eb199523b345aa309 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Find the beige paymentsign, grab it, and turn it towards yourself.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the right arm.", + "Pick up the paymentsign with tilted rectangular panel and rotate it so the QR code faces you", + "Grab the paymentsign resting on angled base, lift it from the table, and rotate it QR front", + "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.", + "Catch the beige paymentsign, lift it, and turn the qrcode towards you.", + "Use the right arm to take the compact paymentsign for scanning payments and turn it until the QR code faces you", + "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you", + "Catch the compact paymentsign for scanning payments using the right arm, pick it up, and turn it to face the QR code.", + "Take the paymentsign with blue and white text, raise it, and make the qrcode face you.", + "Take the smooth beige paymentsign from the table, rotating it QR code toward you.", + "Catch the paymentsign with tilted rectangular panel, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign resting on angled base and orient its QR code toward you with the right arm.", + "Lift the smooth beige paymentsign from the surface and adjust its angle towards you", + "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.", + "Lift the smooth beige paymentsign from the table, turning it QR code forward.", + "Grab the paymentsign with blue and white text with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign resting on angled base off the table and rotate its qrcode to you.", + "Locate the paymentsign showing QR code label, pick it up, and adjust its angle.", + "Pick the rectangular paymentsign with colorful top up, then rotate to make its qrcode visible.", + "Use the right arm to pick the rectangular paymentsign with colorful top and turn it towards you.", + "Catch the beige paymentsign with the right arm, then rotate it to make the QR code visible.", + "Lift the compact paymentsign for scanning payments and rotate it until the QR code faces you.", + "Use the right arm to lift the beige paymentsign from the table and face the qrcode.", + "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.", + "Catch and lift the stand-up paymentsign with rectangular top, then turn it to show the QR code.", + "Using the right arm, catch the paymentsign with blue and white text and rotate it to face the QR code.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward", + "Grab the paymentsign with blue and white text using the right arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign resting on angled base with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign resting on angled base, raise it, and turn it so the QR code faces you", + "Slide the beige paymentsign off the table and turn it to face you.", + "Use the right arm to grab the smooth beige paymentsign, lift, and turn it QR code forward", + "Grab the paymentsign with blue and white text using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the QR code paymentsign and rotate QR code towards you.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate the qrcode to face you.", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Lift the beige paymentsign with printed details and rotate for its qrcode to face you.", + "Lift the beige paymentsign and rotate until its qrcode faces you.", + "Pick up the paymentsign with blue and white text and adjust its position to face the qrcode towards you.", + "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.", + "Pick the paymentsign showing QR code label up, rotate it, and ensure the QR code faces you.", + "Employ the right arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward", + "Use the right arm to lift the beige paymentsign and rotate it QR code toward you.", + "Catch the smooth beige paymentsign, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the beige paymentsign and point its QR code toward you.", + "Find the QR code paymentsign, grab it, and turn it towards yourself.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Pick the QR code paymentsign up and turn its QR code toward you using the right arm.", + "Pick up the QR code paymentsign and rotate it so the QR code faces you", + "Grab the smooth beige paymentsign, lift it from the table, and rotate it QR front", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Catch the paymentsign with tilted rectangular panel, lift it, and turn the qrcode towards you.", + "Use the right arm to take the beige paymentsign and turn it until the QR code faces you", + "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you", + "Catch the compact paymentsign for scanning payments using the right arm, pick it up, and turn it to face the QR code.", + "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.", + "Take the rectangular paymentsign with colorful top from the table, rotating it QR code toward you.", + "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.", + "Lift the beige paymentsign and orient its QR code toward you with the right arm.", + "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you", + "Lift the QR code paymentsign from the table and rotate it so the code faces you.", + "Lift the beige paymentsign from the table, turning it QR code forward.", + "Grab the paymentsign with tilted rectangular panel with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Grab the small paymentsign for mobile payments using the right arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign resting on angled base off the table and rotate its qrcode to you.", + "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Use the right arm to pick the stand-up paymentsign with rectangular top and turn it towards you.", + "Catch the smooth beige paymentsign with the right arm, then rotate it to make the QR code visible.", + "Lift the paymentsign resting on angled base and rotate it until the QR code faces you.", + "Use the right arm to lift the paymentsign with blue and white text from the table and face the qrcode.", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Catch and lift the paymentsign resting on angled base, then turn it to show the QR code.", + "Using the right arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.", + "Use the right arm to grab the paymentsign showing QR code label and rotate it until the QR faces forward", + "Grab the compact paymentsign for scanning payments using the right arm, lift, and rotate until QR code faces you.", + "Lift the stand-up paymentsign with rectangular top with the right arm, then rotate it to make the qrcode visible.", + "Catch the compact paymentsign for scanning payments, raise it, and turn it so the QR code faces you", + "Slide the smooth beige paymentsign off the table and turn it to face you.", + "Use the right arm to grab the smooth beige paymentsign, lift, and turn it QR code forward", + "Grab the paymentsign showing QR code label using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the smooth beige paymentsign and rotate QR code towards you.", + "Use the right arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Lift the compact paymentsign for scanning payments from the table and turn it to face you.", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Lift the beige paymentsign with printed details and rotate until its qrcode faces you.", + "Pick up the compact paymentsign for scanning payments and adjust its position to face the qrcode towards you.", + "Grab the QR code paymentsign, pick it up, and turn its qrcode toward you.", + "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Employ the right arm to seize the beige paymentsign with printed details, raise it, and rotate it QR-forward", + "Use the right arm to lift the compact paymentsign for scanning payments and rotate it QR code toward you.", + "Catch the smooth beige paymentsign, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the compact paymentsign for scanning payments and point its QR code toward you." + ], + "unseen": [ + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode22.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..87a312aad84e0572bb678d6b1b40be6a3e3bfaf5 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the paymentsign with glossy blue panel, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the paymentsign with angled black stand and rotate the qrcode to face you.", + "Catch the blue and white paymentsign, raise it, and turn it so the QR code faces you", + "Catch the tabletop paymentsign off the table and rotate its qrcode to you.", + "Catch the paymentsign with angled black stand, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the blue and white paymentsign and point its QR code toward you.", + "Take the small paymentsign with stand, raise it, and make the qrcode face you.", + "Use the left arm to take the smooth surface paymentsign and turn it until the QR code faces you", + "Grab the paymentsign for scanning QR codes using the left arm, lift, and rotate until QR code faces you.", + "Pick the blue and white paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign with glossy blue panel using the left arm, then rotate it until the qrcode faces you.", + "Take the blue and white paymentsign from the table, rotating it QR code toward you.", + "Grab the paymentsign with printed QR codes with the left arm, then rotate it to face yourself.", + "Locate the smooth surface paymentsign, pick it up, and adjust its angle.", + "Lift the blue and white rectangular paymentsign from the table and rotate it towards you", + "Pick the paymentsign with printed QR codes up, then rotate to make its qrcode visible.", + "Use the left arm to pick the paymentsign for scanning QR codes and turn it towards you.", + "Use the left arm to lift the blue and white paymentsign and rotate it QR code toward you.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to show the QR code.", + "Lift the rectangular plastic paymentsign from the table and rotate it so the code faces you.", + "Use the left arm to lift the blue and white paymentsign from the table and face the qrcode.", + "Catch the small paymentsign with stand with the left arm, then rotate it to make the QR code visible.", + "Lift the small paymentsign with stand and rotate it until the QR code faces you.", + "Use the left arm to grab the rectangular plastic paymentsign, lift, and turn it QR code forward", + "Employ the left arm to seize the small glossy paymentsign, raise it, and rotate it QR-forward", + "Pick the rectangular plastic paymentsign up and turn its QR code toward you using the left arm.", + "Catch the paymentsign with printed QR codes using the left arm, pick it up, and turn it to face the QR code.", + "Lift the rectangular plastic paymentsign and rotate until its qrcode faces you.", + "Catch and lift the paymentsign with printed QR codes, then turn it to show the QR code.", + "Lift the rectangular plastic paymentsign with codes and rotate for its qrcode to face you.", + "Take the paymentsign for scanning QR codes, lift it, and orient it so the QR faces you", + "Pick up the small paymentsign with stand and adjust its position to face the qrcode towards you.", + "Pick up the rectangular plastic paymentsign and rotate it so the QR code faces you", + "Grab the tabletop paymentsign using the left arm, then rotate the QR code to face forward.", + "Find the tabletop paymentsign, grab it, and turn it towards yourself.", + "Lift the rectangular plastic paymentsign from the surface and adjust its angle towards you", + "Use the left arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Slide the smooth surface paymentsign off the table and turn it to face you.", + "Using the left arm, catch the blue and white paymentsign and rotate it to face the QR code.", + "Use the left arm to grab the small glossy paymentsign, rotate, and face the QR code towards you.", + "Catch the rectangular plastic paymentsign, lift it, and adjust its QR code to face you.", + "Catch the blue and white rectangular paymentsign, lift it, and turn the qrcode towards you.", + "Lift the paymentsign with glossy blue panel with the left arm, then rotate it to make the qrcode visible.", + "Lift the rectangular plastic paymentsign with codes and orient its QR code toward you with the left arm.", + "Lift the paymentsign with angled black stand from the table and turn it to face you.", + "Catch the blue and white paymentsign, lift it, and rotate it QR code facing.", + "Grab the rectangular plastic paymentsign, lift it from the table, and rotate it QR front", + "Use the left arm to grab the paymentsign with angled black stand and rotate QR code towards you.", + "Catch the rectangular plastic paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign with printed QR codes from the table, turning it QR code forward.", + "Grab the blue and white rectangular paymentsign, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the rectangular plastic paymentsign with codes and rotate the qrcode to face you.", + "Catch the rectangular plastic paymentsign, raise it, and turn it so the QR code faces you", + "Catch the paymentsign with glossy blue panel off the table and rotate its qrcode to you.", + "Catch the tabletop paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the rectangular plastic paymentsign and point its QR code toward you.", + "Take the rectangular plastic paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to take the small paymentsign with stand and turn it until the QR code faces you", + "Grab the paymentsign with glossy blue panel using the left arm, lift, and rotate until QR code faces you.", + "Pick the small glossy paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the blue and white paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Take the paymentsign with angled black stand from the table, rotating it QR code toward you.", + "Grab the small paymentsign with stand with the left arm, then rotate it to face yourself.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Lift the blue and white paymentsign from the table and rotate it towards you", + "Pick the paymentsign with printed QR codes up, then rotate to make its qrcode visible.", + "Use the left arm to pick the blue and white paymentsign and turn it towards you.", + "Use the left arm to lift the small paymentsign with stand and rotate it QR code toward you.", + "Catch the smooth surface paymentsign, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with glossy blue panel from the table and rotate it so the code faces you.", + "Use the left arm to lift the paymentsign with glossy blue panel from the table and face the qrcode.", + "Catch the tabletop paymentsign with the left arm, then rotate it to make the QR code visible.", + "Lift the blue and white rectangular paymentsign and rotate it until the QR code faces you.", + "Use the left arm to grab the smooth surface paymentsign, lift, and turn it QR code forward", + "Employ the left arm to seize the smooth surface paymentsign, raise it, and rotate it QR-forward", + "Pick the small glossy paymentsign up and turn its QR code toward you using the left arm.", + "Catch the small glossy paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Catch and lift the rectangular plastic paymentsign, then turn it to show the QR code.", + "Lift the paymentsign for scanning QR codes and rotate for its qrcode to face you.", + "Take the paymentsign with glossy blue panel, lift it, and orient it so the QR faces you", + "Pick up the small paymentsign with stand and adjust its position to face the qrcode towards you.", + "Pick up the rectangular plastic paymentsign and rotate it so the QR code faces you", + "Grab the rectangular plastic paymentsign using the left arm, then rotate the QR code to face forward.", + "Find the blue and white rectangular paymentsign, grab it, and turn it towards yourself.", + "Lift the rectangular plastic paymentsign with codes from the surface and adjust its angle towards you", + "Use the left arm to grab the rectangular plastic paymentsign with codes and rotate it until the QR faces forward", + "Slide the small paymentsign with stand off the table and turn it to face you.", + "Using the left arm, catch the blue and white paymentsign and rotate it to face the QR code.", + "Use the left arm to grab the paymentsign with angled black stand, rotate, and face the QR code towards you.", + "Catch the paymentsign with printed QR codes, lift it, and adjust its QR code to face you.", + "Catch the paymentsign for scanning QR codes, lift it, and turn the qrcode towards you.", + "Lift the paymentsign with glossy blue panel with the left arm, then rotate it to make the qrcode visible.", + "Lift the paymentsign with glossy blue panel and orient its QR code toward you with the left arm.", + "Lift the paymentsign for scanning QR codes from the table and turn it to face you.", + "Catch the rectangular plastic paymentsign with codes, lift it, and rotate it QR code facing.", + "Grab the paymentsign for scanning QR codes, lift it from the table, and rotate it QR front", + "Use the left arm to grab the rectangular plastic paymentsign and rotate QR code towards you.", + "Catch the rectangular plastic paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign for scanning QR codes from the table, turning it QR code forward." + ], + "unseen": [ + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode23.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..7663e922e3e75c79ab61ac630bb853dcb4e6e700 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the blue and white paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign with printed QR codes and rotate for its qrcode to face you.", + "Catch the smooth surface paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Lift the small paymentsign with stand from the table and turn it to face you.", + "Locate the paymentsign with angled black stand, pick it up, and adjust its angle.", + "Pick up the smooth surface paymentsign and adjust its position to face the qrcode towards you.", + "Catch the blue and white paymentsign, lift it, and adjust its QR code to face you.", + "Pick the rectangular plastic paymentsign up, rotate it, and ensure the QR code faces you.", + "Pick the paymentsign with glossy blue panel up and turn its QR code toward you using the left arm.", + "Employ the left arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to grab the paymentsign with glossy blue panel and point its QR code toward you.", + "Use the left arm to grab the rectangular plastic paymentsign, rotate, and face the QR code towards you.", + "Slide the smooth surface paymentsign off the table and turn it to face you.", + "Use the left arm to grab the blue and white rectangular paymentsign and rotate the qrcode to face you.", + "Use the left arm to grab the paymentsign with printed QR codes and rotate it until the QR faces forward", + "Lift the paymentsign for scanning QR codes from the table and rotate it so the code faces you.", + "Take the paymentsign with angled black stand, raise it, and make the qrcode face you.", + "Grab the rectangular plastic paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with printed QR codes off the table and rotate its qrcode to you.", + "Catch the paymentsign with printed QR codes, lift it, and rotate it QR code facing.", + "Take the smooth surface paymentsign, lift it, and orient it so the QR faces you", + "Pick up the blue and white paymentsign and rotate it so the QR code faces you", + "Use the left arm to lift the smooth surface paymentsign and rotate it QR code toward you.", + "Use the left arm to pick the small glossy paymentsign and turn it towards you.", + "Using the left arm, catch the paymentsign with angled black stand and rotate it to face the QR code.", + "Catch the paymentsign for scanning QR codes, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign with printed QR codes, raise it, and turn it so the QR code faces you", + "Catch the paymentsign for scanning QR codes, pick it up, and rotate to show the QR code.", + "Lift the blue and white rectangular paymentsign and rotate it until the QR code faces you.", + "Grab the paymentsign with angled black stand with the left arm, then rotate it to face yourself.", + "Lift the smooth surface paymentsign from the surface and adjust its angle towards you", + "Use the left arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Grab the small glossy paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign with angled black stand from the table, turning it QR code forward.", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign with printed QR codes, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign with glossy blue panel, lift it, and turn the qrcode towards you.", + "Pick the small glossy paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign with glossy blue panel with the left arm, then rotate it to make the qrcode visible.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Use the left arm to grab the small glossy paymentsign, lift, and turn it QR code forward", + "Use the left arm to grab the paymentsign for scanning QR codes and rotate QR code towards you.", + "Lift the rectangular plastic paymentsign and orient its QR code toward you with the left arm.", + "Use the left arm to lift the paymentsign with angled black stand from the table and face the qrcode.", + "Catch and lift the blue and white rectangular paymentsign, then turn it to show the QR code.", + "Grab the blue and white paymentsign, lift it from the table, and rotate it QR front", + "Find the small glossy paymentsign, grab it, and turn it towards yourself.", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Grab the paymentsign with angled black stand using the left arm, then rotate the QR code to face forward.", + "Catch the paymentsign with angled black stand with the left arm, then rotate it to make the QR code visible.", + "Take the paymentsign with angled black stand from the table, rotating it QR code toward you.", + "Lift the blue and white paymentsign and rotate for its qrcode to face you.", + "Catch the paymentsign with angled black stand using the left arm, pick it up, and turn it to face the QR code.", + "Lift the small glossy paymentsign from the table and turn it to face you.", + "Locate the rectangular plastic paymentsign, pick it up, and adjust its angle.", + "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.", + "Catch the paymentsign with printed QR codes, lift it, and adjust its QR code to face you.", + "Pick the paymentsign with printed QR codes up, rotate it, and ensure the QR code faces you.", + "Pick the small paymentsign with stand up and turn its QR code toward you using the left arm.", + "Employ the left arm to seize the blue and white rectangular paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to grab the small paymentsign with stand and point its QR code toward you.", + "Use the left arm to grab the small paymentsign with stand, rotate, and face the QR code towards you.", + "Slide the paymentsign with printed QR codes off the table and turn it to face you.", + "Use the left arm to grab the blue and white rectangular paymentsign and rotate the qrcode to face you.", + "Use the left arm to grab the paymentsign with angled black stand and rotate it until the QR faces forward", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it so the code faces you.", + "Take the paymentsign with angled black stand, raise it, and make the qrcode face you.", + "Grab the paymentsign with angled black stand using the left arm, lift, and rotate until QR code faces you.", + "Catch the rectangular plastic paymentsign with codes off the table and rotate its qrcode to you.", + "Catch the paymentsign for scanning QR codes, lift it, and rotate it QR code facing.", + "Take the paymentsign for scanning QR codes, lift it, and orient it so the QR faces you", + "Pick up the paymentsign for scanning QR codes and rotate it so the QR code faces you", + "Use the left arm to lift the paymentsign with glossy blue panel and rotate it QR code toward you.", + "Use the left arm to pick the smooth surface paymentsign and turn it towards you.", + "Using the left arm, catch the paymentsign with angled black stand and rotate it to face the QR code.", + "Catch the rectangular plastic paymentsign with codes, lift, and rotate to align the qrcode to you.", + "Catch the rectangular plastic paymentsign with codes, raise it, and turn it so the QR code faces you", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to show the QR code.", + "Lift the tabletop paymentsign and rotate it until the QR code faces you.", + "Grab the rectangular plastic paymentsign with codes with the left arm, then rotate it to face yourself.", + "Lift the blue and white rectangular paymentsign from the surface and adjust its angle towards you", + "Use the left arm to take the paymentsign with printed QR codes and turn it until the QR code faces you", + "Grab the blue and white rectangular paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Lift the small glossy paymentsign from the table, turning it QR code forward.", + "Catch the blue and white paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign with angled black stand, pick it up, and turn its qrcode toward you.", + "Catch the rectangular plastic paymentsign with codes, lift it, and turn the qrcode towards you.", + "Pick the paymentsign with angled black stand up, then rotate to make its qrcode visible.", + "Lift the small paymentsign with stand with the left arm, then rotate it to make the qrcode visible.", + "Lift the small glossy paymentsign from the table and rotate it towards you", + "Use the left arm to grab the paymentsign with printed QR codes, lift, and turn it QR code forward", + "Use the left arm to grab the smooth surface paymentsign and rotate QR code towards you.", + "Lift the smooth surface paymentsign and orient its QR code toward you with the left arm.", + "Use the left arm to lift the paymentsign for scanning QR codes from the table and face the qrcode.", + "Catch and lift the rectangular plastic paymentsign with codes, then turn it to show the QR code.", + "Grab the small glossy paymentsign, lift it from the table, and rotate it QR front", + "Find the rectangular plastic paymentsign, grab it, and turn it towards yourself.", + "Lift the paymentsign with glossy blue panel and rotate until its qrcode faces you.", + "Grab the rectangular plastic paymentsign with codes using the left arm, then rotate the QR code to face forward.", + "Catch the rectangular plastic paymentsign with the left arm, then rotate it to make the QR code visible." + ], + "unseen": [ + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode24.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..c4c5bff12f6a5be26fcee6a9d3fe905017b6448f --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the paymentsign from the table and rotate it towards you", + "Find the small payment stand with black base, grab it, and turn it towards yourself.", + "Lift the gray top with QR code with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Use the left arm to lift the small payment stand with black base from the table and face the qrcode.", + "Catch the triangular stand with QR code, lift it, and turn the qrcode towards you.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Lift the black base with tilted gray panel from the table and turn it to face you.", + "Use the left arm to grab the green payment logo on gray top and point its QR code toward you.", + "Catch the small payment stand with black base, lift, and rotate to align the qrcode to you.", + "Lift the slanted gray panel for QR code scan from the table, turning it QR code forward.", + "Lift the black base with tilted gray panel from the surface and adjust its angle towards you", + "Grab the payment sign with green logo using the left arm, lift, and rotate until QR code faces you.", + "Lift the tabletop-sized payment sign and rotate for its qrcode to face you.", + "Use the left arm to take the tabletop-sized payment sign and turn it until the QR code faces you", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Pick up the payment sign with angled face and rotate it so the QR code faces you", + "Slide the small payment stand with black base off the table and turn it to face you.", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Lift the slanted gray panel for QR code scan and rotate it until the QR code faces you.", + "Pick the black base with tilted gray panel up, then rotate to make its qrcode visible.", + "Using the left arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Use the left arm to grab the green payment logo on gray top and rotate it until the QR faces forward", + "Catch the payment sign with green logo off the table and rotate its qrcode to you.", + "Use the left arm to pick the triangular stand with QR code and turn it towards you.", + "Use the left arm to grab the green payment logo on gray top and rotate the qrcode to face you.", + "Catch the triangular stand with QR code, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the tabletop-sized payment sign and rotate QR code towards you.", + "Catch the payment sign with green logo, raise it, and turn it so the QR code faces you", + "Catch the black base with tilted gray panel, lift it, and rotate it QR code facing.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Catch the small payment stand with black base using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the small payment stand with black base, rotate, and face the QR code towards you.", + "Grab the small black stand for payments, pick it up, and turn its qrcode toward you.", + "Catch the payment sign with angled face, pick it up, and rotate to show the QR code.", + "Grab the paymentsign with the left arm, then rotate it to face yourself.", + "Catch and lift the slanted gray panel for QR code scan, then turn it to show the QR code.", + "Lift the slanted gray panel for QR code scan and orient its QR code toward you with the left arm.", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Catch the tabletop-sized payment sign, pick it up, and rotate to view the qrcode.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Grab the gray top with QR code using the left arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign using the left arm, then rotate the QR code to face forward.", + "Employ the left arm to seize the gray top with QR code, raise it, and rotate it QR-forward", + "Pick the gray slanted panel with text up and turn its QR code toward you using the left arm.", + "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Lift the black base with tilted gray panel and rotate until its qrcode faces you.", + "Catch the tabletop-sized payment sign with the left arm, then rotate it to make the QR code visible.", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Find the green payment logo on gray top, grab it, and turn it towards yourself.", + "Lift the green payment logo on gray top with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the payment sign with angled face, lift, and turn it QR code forward", + "Use the left arm to lift the small black stand for payments from the table and face the qrcode.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Lift the tabletop-sized payment sign from the table and rotate it so the code faces you.", + "Lift the paymentsign from the table and turn it to face you.", + "Use the left arm to grab the triangular stand with QR code and point its QR code toward you.", + "Catch the black base with tilted gray panel, lift, and rotate to align the qrcode to you.", + "Lift the black base with tilted gray panel from the table, turning it QR code forward.", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Grab the small black stand for payments using the left arm, lift, and rotate until QR code faces you.", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Use the left arm to take the small black stand for payments and turn it until the QR code faces you", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Take the gray top with QR code from the table, rotating it QR code toward you.", + "Pick up the gray slanted panel with text and rotate it so the QR code faces you", + "Slide the gray top with QR code off the table and turn it to face you.", + "Take the small payment stand with black base, lift it, and orient it so the QR faces you", + "Lift the green payment logo on gray top and rotate it until the QR code faces you.", + "Pick the gray slanted panel with text up, then rotate to make its qrcode visible.", + "Using the left arm, catch the payment sign with green logo and rotate it to face the QR code.", + "Use the left arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Catch the triangular stand with QR code off the table and rotate its qrcode to you.", + "Use the left arm to pick the green payment logo on gray top and turn it towards you.", + "Use the left arm to grab the triangular stand with QR code and rotate the qrcode to face you.", + "Catch the small payment stand with black base, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the gray top with QR code and rotate QR code towards you.", + "Catch the small payment stand with black base, raise it, and turn it so the QR code faces you", + "Catch the small payment stand with black base, lift it, and rotate it QR code facing.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Catch the black base with tilted gray panel using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the small black stand for payments, rotate, and face the QR code towards you.", + "Grab the payment sign with green logo, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Grab the triangular stand with QR code with the left arm, then rotate it to face yourself.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Lift the paymentsign and orient its QR code toward you with the left arm.", + "Pick the small black stand for payments up, rotate it, and ensure the QR code faces you.", + "Catch the black base with tilted gray panel, pick it up, and rotate to view the qrcode.", + "Grab the slanted gray panel for QR code scan, lift it from the table, and rotate it QR front", + "Grab the black base with tilted gray panel using the left arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign using the left arm, then rotate the QR code to face forward.", + "Employ the left arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Use the left arm to lift the black base with tilted gray panel and rotate it QR code toward you.", + "Lift the payment sign with green logo and rotate until its qrcode faces you.", + "Catch the green payment logo on gray top with the left arm, then rotate it to make the QR code visible." + ], + "unseen": [ + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode25.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..73c3fd40f222456246d0be41354ca7979217656d --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.", + "Catch the paymentsign with tilted rectangular panel, raise it, and turn it so the QR code faces you", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Catch the beige paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Pick the paymentsign resting on angled base up, then rotate to make its qrcode visible.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.", + "Take the beige paymentsign with printed details, raise it, and make the qrcode face you.", + "Using the right arm, catch the smooth beige paymentsign and rotate it to face the QR code.", + "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.", + "Pick up the QR code paymentsign and rotate it so the QR code faces you", + "Pick the beige paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to pick the rectangular paymentsign with colorful top and turn it towards you.", + "Catch the QR code paymentsign, lift it, and turn the qrcode towards you.", + "Lift the paymentsign resting on angled base and rotate it until the QR code faces you.", + "Lift the small paymentsign for mobile payments from the table and rotate it so the code faces you.", + "Grab the compact paymentsign for scanning payments with the right arm, then rotate it to face yourself.", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the right arm.", + "Employ the right arm to seize the paymentsign with tilted rectangular panel, raise it, and rotate it QR-forward", + "Use the right arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Use the right arm to lift the beige paymentsign with printed details and rotate it QR code toward you.", + "Use the right arm to grab the small paymentsign for mobile payments and point its QR code toward you.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you", + "Grab the paymentsign resting on angled base using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.", + "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you.", + "Grab the beige paymentsign with printed details, lift it from the table, and rotate it QR front", + "Locate the smooth beige paymentsign, pick it up, and adjust its angle.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Catch the paymentsign with blue and white text with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to lift the paymentsign resting on angled base from the table and face the qrcode.", + "Slide the smooth beige paymentsign off the table and turn it to face you.", + "Use the right arm to take the small paymentsign for mobile payments and turn it until the QR code faces you", + "Grab the beige paymentsign with printed details using the right arm, then rotate it until the qrcode faces you.", + "Lift the QR code paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Find the smooth beige paymentsign, grab it, and turn it towards yourself.", + "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.", + "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the beige paymentsign from the table and turn it to face you.", + "Lift the QR code paymentsign from the surface and adjust its angle towards you", + "Use the right arm to grab the paymentsign showing QR code label and rotate QR code towards you.", + "Lift the rectangular paymentsign with colorful top and rotate until its qrcode faces you.", + "Take the paymentsign resting on angled base, lift it, and orient it so the QR faces you", + "Use the right arm to grab the smooth beige paymentsign, lift, and turn it QR code forward", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the small paymentsign for mobile payments, rotate, and face the QR code towards you.", + "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.", + "Lift the beige paymentsign from the table, turning it QR code forward.", + "Grab the paymentsign resting on angled base using the right arm, then rotate the QR code to face forward.", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Catch the paymentsign showing QR code label, raise it, and turn it so the QR code faces you", + "Pick up the stand-up paymentsign with rectangular top and adjust its position to face the qrcode towards you.", + "Catch the paymentsign resting on angled base using the right arm, pick it up, and turn it to face the QR code.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.", + "Using the right arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the right arm.", + "Use the right arm to pick the paymentsign showing QR code label and turn it towards you.", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.", + "Lift the beige paymentsign from the table and rotate it so the code faces you.", + "Grab the paymentsign with tilted rectangular panel with the right arm, then rotate it to face yourself.", + "Lift the paymentsign resting on angled base and orient its QR code toward you with the right arm.", + "Employ the right arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Use the right arm to lift the paymentsign with blue and white text and rotate it QR code toward you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and point its QR code toward you.", + "Lift the beige paymentsign from the table and rotate it towards you", + "Grab the beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate the qrcode to face you.", + "Catch and lift the beige paymentsign with printed details, then turn it to show the QR code.", + "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Locate the paymentsign with blue and white text, pick it up, and adjust its angle.", + "Catch the paymentsign with tilted rectangular panel off the table and rotate its qrcode to you.", + "Catch the compact paymentsign for scanning payments with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to lift the compact paymentsign for scanning payments from the table and face the qrcode.", + "Slide the smooth beige paymentsign off the table and turn it to face you.", + "Use the right arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate it until the qrcode faces you.", + "Lift the QR code paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.", + "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the rectangular paymentsign with colorful top from the table and turn it to face you.", + "Lift the rectangular paymentsign with colorful top from the surface and adjust its angle towards you", + "Use the right arm to grab the paymentsign showing QR code label and rotate QR code towards you.", + "Lift the paymentsign with blue and white text and rotate until its qrcode faces you.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Use the right arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the small paymentsign for mobile payments, rotate, and face the QR code towards you.", + "Take the QR code paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign resting on angled base from the table, turning it QR code forward.", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate the QR code to face forward." + ], + "unseen": [ + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode26.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..55e952b4f380364437c97491025a78323110d91d --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.", + "Catch the smooth beige paymentsign with the left arm, then rotate it to make the QR code visible.", + "Take the paymentsign with tilted rectangular panel from the table, rotating it QR code toward you.", + "Catch the beige paymentsign off the table and rotate its qrcode to you.", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Catch and lift the paymentsign resting on angled base, then turn it to show the QR code.", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Use the left arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Lift the QR code paymentsign from the surface and adjust its angle towards you", + "Use the left arm to grab the compact paymentsign for scanning payments and point its QR code toward you.", + "Lift the paymentsign resting on angled base and rotate until its qrcode faces you.", + "Use the left arm to lift the QR code paymentsign from the table and face the qrcode.", + "Lift the compact paymentsign for scanning payments and rotate it until the QR code faces you.", + "Catch the paymentsign with tilted rectangular panel using the left arm, pick it up, and turn it to face the QR code.", + "Lift the QR code paymentsign and orient its QR code toward you with the left arm.", + "Pick the paymentsign with blue and white text up, then rotate to make its qrcode visible.", + "Grab the small paymentsign for mobile payments using the left arm, then rotate the QR code to face forward.", + "Catch the small paymentsign for mobile payments, raise it, and turn it so the QR code faces you", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Using the left arm, catch the paymentsign with blue and white text and rotate it to face the QR code.", + "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.", + "Lift the QR code paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Grab the rectangular paymentsign with colorful top, lift it from the table, and rotate it QR front", + "Catch the compact paymentsign for scanning payments, lift it, and rotate it QR code facing.", + "Grab the small paymentsign for mobile payments with the left arm, then rotate it to face yourself.", + "Lift the paymentsign with blue and white text from the table and rotate it towards you", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate it until the QR faces forward", + "Use the left arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.", + "Employ the left arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Lift the smooth beige paymentsign from the table, turning it QR code forward.", + "Grab the smooth beige paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Grab the beige paymentsign with printed details, pick it up, and turn its qrcode toward you.", + "Lift the beige paymentsign with printed details and rotate for its qrcode to face you.", + "Take the small paymentsign for mobile payments, lift it, and orient it so the QR faces you", + "Use the left arm to grab the compact paymentsign for scanning payments, lift, and turn it QR code forward", + "Use the left arm to pick the paymentsign with blue and white text and turn it towards you.", + "Grab the rectangular paymentsign with colorful top using the left arm, then rotate it until the qrcode faces you.", + "Catch the smooth beige paymentsign, lift it, and adjust its QR code to face you.", + "Locate the paymentsign showing QR code label, pick it up, and adjust its angle.", + "Use the left arm to grab the paymentsign resting on angled base and rotate QR code towards you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Use the left arm to take the small paymentsign for mobile payments and turn it until the QR code faces you", + "Slide the beige paymentsign with printed details off the table and turn it to face you.", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to view the qrcode.", + "Lift the compact paymentsign for scanning payments from the table and rotate it so the code faces you.", + "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.", + "Pick the smooth beige paymentsign up and turn its QR code toward you using the left arm.", + "Pick up the stand-up paymentsign with rectangular top and adjust its position to face the qrcode towards you.", + "Use the left arm to lift the paymentsign with blue and white text and rotate it QR code toward you.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to show the QR code.", + "Catch the paymentsign showing QR code label with the left arm, then rotate it to make the QR code visible.", + "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.", + "Catch the beige paymentsign off the table and rotate its qrcode to you.", + "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Lift the small paymentsign for mobile payments from the table and turn it to face you.", + "Use the left arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Lift the stand-up paymentsign with rectangular top from the surface and adjust its angle towards you", + "Use the left arm to grab the QR code paymentsign and point its QR code toward you.", + "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.", + "Use the left arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Lift the beige paymentsign with printed details and rotate it until the QR code faces you.", + "Catch the paymentsign showing QR code label using the left arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the left arm.", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Grab the QR code paymentsign using the left arm, then rotate the QR code to face forward.", + "Catch the paymentsign with tilted rectangular panel, raise it, and turn it so the QR code faces you", + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Using the left arm, catch the beige paymentsign with printed details and rotate it to face the QR code.", + "Take the paymentsign with blue and white text, raise it, and make the qrcode face you.", + "Lift the paymentsign with tilted rectangular panel with the left arm, then rotate it to make the qrcode visible.", + "Grab the QR code paymentsign, lift it from the table, and rotate it QR front", + "Catch the rectangular paymentsign with colorful top, lift it, and rotate it QR code facing.", + "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.", + "Lift the paymentsign showing QR code label from the table and rotate it towards you", + "Use the left arm to grab the paymentsign showing QR code label and rotate it until the QR faces forward", + "Use the left arm to grab the compact paymentsign for scanning payments, rotate, and face the QR code towards you.", + "Employ the left arm to seize the compact paymentsign for scanning payments, raise it, and rotate it QR-forward", + "Lift the paymentsign with blue and white text from the table, turning it QR code forward.", + "Grab the beige paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the small paymentsign for mobile payments, pick it up, and turn its qrcode toward you.", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Take the paymentsign showing QR code label, lift it, and orient it so the QR faces you", + "Use the left arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward", + "Use the left arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Grab the rectangular paymentsign with colorful top using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.", + "Use the left arm to grab the paymentsign with blue and white text and rotate QR code towards you.", + "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you", + "Use the left arm to take the smooth beige paymentsign and turn it until the QR code faces you", + "Slide the small paymentsign for mobile payments off the table and turn it to face you.", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.", + "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the left arm.", + "Pick up the rectangular paymentsign with colorful top and adjust its position to face the qrcode towards you.", + "Use the left arm to lift the compact paymentsign for scanning payments and rotate it QR code toward you." + ], + "unseen": [ + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode27.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..6aba04d6d2d2172d2552eb86ec8abaf4a3d6af21 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate QR code towards you.", + "Use the right arm to grab the paymentsign resting on angled base, lift, and turn it QR code forward", + "Catch the paymentsign showing QR code label, lift it, and turn the qrcode towards you.", + "Catch the smooth beige paymentsign off the table and rotate its qrcode to you.", + "Pick the paymentsign with blue and white text up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign with tilted rectangular panel with the right arm, then rotate it to make the qrcode visible.", + "Employ the right arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to view the qrcode.", + "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.", + "Lift the paymentsign resting on angled base and orient its QR code toward you with the right arm.", + "Grab the compact paymentsign for scanning payments, lift it from the table, and rotate it QR front", + "Use the right arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Take the smooth beige paymentsign, raise it, and make the qrcode face you.", + "Grab the paymentsign showing QR code label using the right arm, then rotate the QR code to face forward.", + "Catch the paymentsign with blue and white text using the right arm, pick it up, and turn it to face the QR code.", + "Find the paymentsign resting on angled base, grab it, and turn it towards yourself.", + "Catch and lift the paymentsign resting on angled base, then turn it to show the QR code.", + "Catch the paymentsign with tilted rectangular panel with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the beige paymentsign and point its QR code toward you.", + "Use the right arm to lift the paymentsign resting on angled base from the table and face the qrcode.", + "Use the right arm to pick the stand-up paymentsign with rectangular top and turn it towards you.", + "Catch the paymentsign showing QR code label, lift it, and rotate it QR code facing.", + "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.", + "Use the right arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Grab the QR code paymentsign with the right arm, then rotate it to face yourself.", + "Catch the stand-up paymentsign with rectangular top, raise it, and turn it so the QR code faces you", + "Grab the stand-up paymentsign with rectangular top using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.", + "Slide the paymentsign showing QR code label off the table and turn it to face you.", + "Use the right arm to take the QR code paymentsign and turn it until the QR code faces you", + "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.", + "Take the stand-up paymentsign with rectangular top, lift it, and orient it so the QR faces you", + "Catch the paymentsign resting on angled base, lift it, and adjust its QR code to face you.", + "Lift the beige paymentsign with printed details and rotate for its qrcode to face you.", + "Lift the small paymentsign for mobile payments from the table, turning it QR code forward.", + "Grab the paymentsign showing QR code label, pick it up, and turn its qrcode toward you.", + "Pick the compact paymentsign for scanning payments up and turn its QR code toward you using the right arm.", + "Pick the beige paymentsign with printed details up, then rotate to make its qrcode visible.", + "Use the right arm to lift the paymentsign showing QR code label and rotate it QR code toward you.", + "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.", + "Lift the QR code paymentsign from the table and rotate it towards you", + "Lift the QR code paymentsign from the surface and adjust its angle towards you", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Pick up the beige paymentsign and rotate it so the QR code faces you", + "Using the right arm, catch the paymentsign with tilted rectangular panel and rotate it to face the QR code.", + "Grab the QR code paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Locate the rectangular paymentsign with colorful top, pick it up, and adjust its angle.", + "Use the right arm to grab the smooth beige paymentsign and rotate QR code towards you.", + "Use the right arm to grab the beige paymentsign, lift, and turn it QR code forward", + "Catch the paymentsign with tilted rectangular panel, lift it, and turn the qrcode towards you.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign resting on angled base with the right arm, then rotate it to make the qrcode visible.", + "Employ the right arm to seize the smooth beige paymentsign, raise it, and rotate it QR-forward", + "Pick up the rectangular paymentsign with colorful top and adjust its position to face the qrcode towards you.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.", + "Lift the QR code paymentsign and rotate until its qrcode faces you.", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the right arm.", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Use the right arm to grab the beige paymentsign with printed details and rotate the qrcode to face you.", + "Take the paymentsign resting on angled base, raise it, and make the qrcode face you.", + "Grab the beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the paymentsign with tilted rectangular panel using the right arm, pick it up, and turn it to face the QR code.", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Catch and lift the beige paymentsign with printed details, then turn it to show the QR code.", + "Catch the paymentsign showing QR code label with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.", + "Use the right arm to lift the paymentsign resting on angled base from the table and face the qrcode.", + "Use the right arm to pick the beige paymentsign with printed details and turn it towards you.", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Use the right arm to grab the QR code paymentsign, rotate, and face the QR code towards you.", + "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.", + "Grab the paymentsign resting on angled base with the right arm, then rotate it to face yourself.", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Grab the beige paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the paymentsign with blue and white text and rotate it until the QR faces forward", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to show the QR code.", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Use the right arm to take the smooth beige paymentsign and turn it until the QR code faces you", + "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.", + "Take the beige paymentsign, lift it, and orient it so the QR faces you", + "Catch the beige paymentsign, lift it, and adjust its QR code to face you.", + "Lift the rectangular paymentsign with colorful top and rotate for its qrcode to face you.", + "Lift the beige paymentsign with printed details from the table, turning it QR code forward.", + "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the right arm.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Use the right arm to lift the small paymentsign for mobile payments and rotate it QR code toward you.", + "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.", + "Lift the paymentsign with blue and white text from the table and rotate it towards you", + "Lift the paymentsign showing QR code label from the surface and adjust its angle towards you", + "Lift the QR code paymentsign from the table and turn it to face you.", + "Pick up the QR code paymentsign and rotate it so the QR code faces you", + "Using the right arm, catch the beige paymentsign and rotate it to face the QR code.", + "Grab the QR code paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Locate the paymentsign with blue and white text, pick it up, and adjust its angle." + ], + "unseen": [ + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode28.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..9854ce1e7f4cf6bacc6e3e7fbe85f3fa59e684f7 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the paymentsign with blue and white text using the right arm, then rotate it until the qrcode faces you.", + "Lift the QR code paymentsign from the table and turn it to face you.", + "Employ the right arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Catch and lift the beige paymentsign with printed details, then turn it to show the QR code.", + "Catch the stand-up paymentsign with rectangular top, raise it, and turn it so the QR code faces you", + "Use the right arm to lift the beige paymentsign with printed details from the table and face the qrcode.", + "Using the right arm, catch the QR code paymentsign and rotate it to face the QR code.", + "Pick the paymentsign with blue and white text up and turn its QR code toward you using the right arm.", + "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you", + "Use the right arm to pick the small paymentsign for mobile payments and turn it towards you.", + "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.", + "Take the beige paymentsign with printed details, raise it, and make the qrcode face you.", + "Locate the paymentsign with tilted rectangular panel, pick it up, and adjust its angle.", + "Lift the beige paymentsign and orient its QR code toward you with the right arm.", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Lift the paymentsign with tilted rectangular panel from the surface and adjust its angle towards you", + "Use the right arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Use the right arm to grab the compact paymentsign for scanning payments and point its QR code toward you.", + "Lift the smooth beige paymentsign from the table and rotate it so the code faces you.", + "Use the right arm to lift the paymentsign resting on angled base and rotate it QR code toward you.", + "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.", + "Lift the paymentsign with blue and white text and rotate until its qrcode faces you.", + "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.", + "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.", + "Pick up the paymentsign with blue and white text and adjust its position to face the qrcode towards you.", + "Grab the small paymentsign for mobile payments using the right arm, lift, and rotate until QR code faces you.", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Catch the paymentsign with tilted rectangular panel with the right arm, then rotate it to make the QR code visible.", + "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.", + "Lift the smooth beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, rotate, and face the QR code towards you.", + "Grab the paymentsign with blue and white text using the right arm, then rotate the QR code to face forward.", + "Pick up the rectangular paymentsign with colorful top and rotate it so the QR code faces you", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Grab the beige paymentsign with printed details, lift it from the table, and rotate it QR front", + "Catch the rectangular paymentsign with colorful top using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.", + "Catch the beige paymentsign off the table and rotate its qrcode to you.", + "Slide the compact paymentsign for scanning payments off the table and turn it to face you.", + "Lift the beige paymentsign from the table, turning it QR code forward.", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to view the qrcode.", + "Pick the paymentsign resting on angled base up, then rotate to make its qrcode visible.", + "Use the right arm to take the smooth beige paymentsign and turn it until the QR code faces you", + "Grab the paymentsign resting on angled base with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the smooth beige paymentsign, lift, and turn it QR code forward", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate QR code towards you.", + "Grab the compact paymentsign for scanning payments using the right arm, then rotate it until the qrcode faces you.", + "Lift the rectangular paymentsign with colorful top from the table and turn it to face you.", + "Employ the right arm to seize the rectangular paymentsign with colorful top, raise it, and rotate it QR-forward", + "Catch and lift the stand-up paymentsign with rectangular top, then turn it to show the QR code.", + "Catch the paymentsign showing QR code label, raise it, and turn it so the QR code faces you", + "Use the right arm to lift the compact paymentsign for scanning payments from the table and face the qrcode.", + "Using the right arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Pick the paymentsign showing QR code label up and turn its QR code toward you using the right arm.", + "Take the QR code paymentsign, lift it, and orient it so the QR faces you", + "Use the right arm to pick the paymentsign showing QR code label and turn it towards you.", + "Grab the paymentsign showing QR code label, pick it up, and turn its qrcode toward you.", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.", + "Lift the smooth beige paymentsign and orient its QR code toward you with the right arm.", + "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Lift the paymentsign with tilted rectangular panel from the surface and adjust its angle towards you", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.", + "Use the right arm to grab the beige paymentsign and rotate it until the QR faces forward", + "Use the right arm to grab the beige paymentsign and point its QR code toward you.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.", + "Use the right arm to lift the small paymentsign for mobile payments and rotate it QR code toward you.", + "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.", + "Lift the smooth beige paymentsign and rotate until its qrcode faces you.", + "Catch the paymentsign with tilted rectangular panel, lift, and rotate to align the qrcode to you.", + "Lift the rectangular paymentsign with colorful top and rotate it until the QR code faces you.", + "Pick up the smooth beige paymentsign and adjust its position to face the qrcode towards you.", + "Grab the beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the smooth beige paymentsign from the table and rotate it towards you", + "Catch the beige paymentsign with printed details with the right arm, then rotate it to make the QR code visible.", + "Take the rectangular paymentsign with colorful top from the table, rotating it QR code toward you.", + "Lift the paymentsign resting on angled base with the right arm, then rotate it to make the qrcode visible.", + "Catch the stand-up paymentsign with rectangular top, lift it, and rotate it QR code facing.", + "Use the right arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.", + "Grab the paymentsign resting on angled base using the right arm, then rotate the QR code to face forward.", + "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you", + "Pick the QR code paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the beige paymentsign, lift it from the table, and rotate it QR front", + "Catch the compact paymentsign for scanning payments using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.", + "Lift the small paymentsign for mobile payments and rotate for its qrcode to face you.", + "Catch the rectangular paymentsign with colorful top off the table and rotate its qrcode to you.", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Lift the paymentsign with blue and white text from the table, turning it QR code forward.", + "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.", + "Pick the stand-up paymentsign with rectangular top up, then rotate to make its qrcode visible.", + "Use the right arm to take the small paymentsign for mobile payments and turn it until the QR code faces you", + "Grab the paymentsign with tilted rectangular panel with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the rectangular paymentsign with colorful top, lift, and turn it QR code forward", + "Use the right arm to grab the paymentsign resting on angled base and rotate QR code towards you." + ], + "unseen": [ + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode29.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..81caf0bfdd29cc5b957ec25b9c489a61d4a9401b --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the paymentsign with blue and white text up and turn its QR code toward you using the right arm.", + "Grab the beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Catch the compact paymentsign for scanning payments using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the small paymentsign for mobile payments and point its QR code toward you.", + "Lift the beige paymentsign from the table, turning it QR code forward.", + "Use the right arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.", + "Pick the paymentsign with blue and white text up, rotate it, and ensure the QR code faces you.", + "Grab the smooth beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the beige paymentsign and orient its QR code toward you with the right arm.", + "Lift the smooth beige paymentsign from the table and rotate it so the code faces you.", + "Catch the QR code paymentsign, lift it, and adjust its QR code to face you.", + "Use the right arm to lift the paymentsign with blue and white text from the table and face the qrcode.", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Catch the beige paymentsign with printed details with the right arm, then rotate it to make the QR code visible.", + "Catch the compact paymentsign for scanning payments, raise it, and turn it so the QR code faces you", + "Catch the paymentsign resting on angled base, pick it up, and rotate to view the qrcode.", + "Take the paymentsign with blue and white text from the table, rotating it QR code toward you.", + "Grab the stand-up paymentsign with rectangular top with the right arm, then rotate it to face yourself.", + "Grab the compact paymentsign for scanning payments, lift it from the table, and rotate it QR front", + "Find the paymentsign with blue and white text, grab it, and turn it towards yourself.", + "Using the right arm, catch the paymentsign resting on angled base and rotate it to face the QR code.", + "Catch the paymentsign with blue and white text, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.", + "Use the right arm to lift the beige paymentsign and rotate it QR code toward you.", + "Take the QR code paymentsign, lift it, and orient it so the QR faces you", + "Pick the small paymentsign for mobile payments up, then rotate to make its qrcode visible.", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Catch the stand-up paymentsign with rectangular top, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate it until the QR faces forward", + "Lift the paymentsign showing QR code label from the surface and adjust its angle towards you", + "Grab the QR code paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the rectangular paymentsign with colorful top, lift it, and rotate it QR code facing.", + "Use the right arm to grab the beige paymentsign and rotate QR code towards you.", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Grab the paymentsign resting on angled base using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to take the beige paymentsign and turn it until the QR code faces you", + "Use the right arm to grab the paymentsign showing QR code label, lift, and turn it QR code forward", + "Employ the right arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward", + "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.", + "Lift the rectangular paymentsign with colorful top with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to pick the beige paymentsign with printed details and turn it towards you.", + "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you", + "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.", + "Take the paymentsign with tilted rectangular panel, raise it, and make the qrcode face you.", + "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.", + "Locate the compact paymentsign for scanning payments, pick it up, and adjust its angle.", + "Pick the paymentsign showing QR code label up and turn its QR code toward you using the right arm.", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the beige paymentsign with printed details and rotate the qrcode to face you.", + "Lift the beige paymentsign from the table and turn it to face you.", + "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and point its QR code toward you.", + "Lift the smooth beige paymentsign from the table, turning it QR code forward.", + "Use the right arm to grab the compact paymentsign for scanning payments, rotate, and face the QR code towards you.", + "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the smooth beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the QR code paymentsign and orient its QR code toward you with the right arm.", + "Lift the small paymentsign for mobile payments from the table and rotate it so the code faces you.", + "Catch the small paymentsign for mobile payments, lift it, and adjust its QR code to face you.", + "Use the right arm to lift the paymentsign resting on angled base from the table and face the qrcode.", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Catch the paymentsign showing QR code label with the right arm, then rotate it to make the QR code visible.", + "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you", + "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.", + "Take the smooth beige paymentsign from the table, rotating it QR code toward you.", + "Grab the paymentsign resting on angled base with the right arm, then rotate it to face yourself.", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Find the QR code paymentsign, grab it, and turn it towards yourself.", + "Using the right arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the beige paymentsign and rotate until its qrcode faces you.", + "Catch and lift the paymentsign with tilted rectangular panel, then turn it to show the QR code.", + "Use the right arm to lift the compact paymentsign for scanning payments and rotate it QR code toward you.", + "Take the beige paymentsign, lift it, and orient it so the QR faces you", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Catch the compact paymentsign for scanning payments, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward", + "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Catch the stand-up paymentsign with rectangular top, lift it, and rotate it QR code facing.", + "Use the right arm to grab the beige paymentsign and rotate QR code towards you.", + "Lift the smooth beige paymentsign from the table and rotate it towards you", + "Grab the stand-up paymentsign with rectangular top using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to take the smooth beige paymentsign and turn it until the QR code faces you", + "Use the right arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward", + "Employ the right arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Lift the QR code paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to pick the paymentsign resting on angled base and turn it towards you.", + "Pick up the beige paymentsign and rotate it so the QR code faces you", + "Pick up the small paymentsign for mobile payments and adjust its position to face the qrcode towards you.", + "Take the beige paymentsign with printed details, raise it, and make the qrcode face you.", + "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.", + "Locate the rectangular paymentsign with colorful top, pick it up, and adjust its angle." + ], + "unseen": [ + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode3.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..4bd5c0aef4bd668ffb0d4d1da08cdf194d8c380f --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the stand-up paymentsign with rectangular top up and turn its QR code toward you using the left arm.", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Locate the QR code paymentsign, pick it up, and adjust its angle.", + "Grab the beige paymentsign with printed details using the left arm, then rotate the QR code to face forward.", + "Lift the beige paymentsign and rotate for its qrcode to face you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the smooth beige paymentsign and rotate QR code towards you.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.", + "Lift the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the QR code paymentsign, rotate, and face the QR code towards you.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Catch the beige paymentsign, lift it, and adjust its QR code to face you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Catch the paymentsign showing QR code label using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Slide the smooth beige paymentsign off the table and turn it to face you.", + "Take the small paymentsign for mobile payments, lift it, and orient it so the QR faces you", + "Use the left arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Use the left arm to pick the beige paymentsign and turn it towards you.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to view the qrcode.", + "Lift the beige paymentsign with printed details and rotate it until the QR code faces you.", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Use the left arm to lift the paymentsign with blue and white text from the table and face the qrcode.", + "Catch the rectangular paymentsign with colorful top with the left arm, then rotate it to make the QR code visible.", + "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.", + "Grab the smooth beige paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Using the left arm, catch the paymentsign with tilted rectangular panel and rotate it to face the QR code.", + "Use the left arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Lift the compact paymentsign for scanning payments and rotate until its qrcode faces you.", + "Pick up the stand-up paymentsign with rectangular top and adjust its position to face the qrcode towards you.", + "Take the paymentsign with tilted rectangular panel, raise it, and make the qrcode face you.", + "Use the left arm to grab the paymentsign showing QR code label and point its QR code toward you.", + "Lift the rectangular paymentsign with colorful top and orient its QR code toward you with the left arm.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Lift the smooth beige paymentsign from the surface and adjust its angle towards you", + "Grab the QR code paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Lift the stand-up paymentsign with rectangular top from the table, turning it QR code forward.", + "Catch the QR code paymentsign, raise it, and turn it so the QR code faces you", + "Grab the paymentsign showing QR code label, lift it from the table, and rotate it QR front", + "Use the left arm to take the paymentsign showing QR code label and turn it until the QR code faces you", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Grab the QR code paymentsign with the left arm, then rotate it to face yourself.", + "Employ the left arm to seize the smooth beige paymentsign, raise it, and rotate it QR-forward", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Lift the smooth beige paymentsign from the table and turn it to face you.", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Pick the smooth beige paymentsign up and turn its QR code toward you using the left arm.", + "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.", + "Locate the small paymentsign for mobile payments, pick it up, and adjust its angle.", + "Grab the smooth beige paymentsign using the left arm, then rotate the QR code to face forward.", + "Lift the small paymentsign for mobile payments and rotate for its qrcode to face you.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate QR code towards you.", + "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.", + "Lift the rectangular paymentsign with colorful top with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the QR code paymentsign, rotate, and face the QR code towards you.", + "Catch and lift the smooth beige paymentsign, then turn it to show the QR code.", + "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.", + "Catch the paymentsign resting on angled base using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to lift the compact paymentsign for scanning payments and rotate it QR code toward you.", + "Slide the QR code paymentsign off the table and turn it to face you.", + "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward", + "Grab the beige paymentsign with printed details, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate the qrcode to face you.", + "Use the left arm to pick the beige paymentsign with printed details and turn it towards you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Lift the QR code paymentsign and rotate it until the QR code faces you.", + "Pick up the beige paymentsign with printed details and rotate it so the QR code faces you", + "Use the left arm to lift the rectangular paymentsign with colorful top from the table and face the qrcode.", + "Catch the beige paymentsign with the left arm, then rotate it to make the QR code visible.", + "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.", + "Grab the rectangular paymentsign with colorful top using the left arm, lift, and rotate until QR code faces you.", + "Using the left arm, catch the paymentsign resting on angled base and rotate it to face the QR code.", + "Use the left arm to grab the small paymentsign for mobile payments and rotate it until the QR faces forward", + "Find the paymentsign with tilted rectangular panel, grab it, and turn it towards yourself.", + "Lift the paymentsign resting on angled base and rotate until its qrcode faces you.", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Take the paymentsign with blue and white text, raise it, and make the qrcode face you.", + "Use the left arm to grab the stand-up paymentsign with rectangular top and point its QR code toward you.", + "Lift the beige paymentsign with printed details and orient its QR code toward you with the left arm.", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you", + "Grab the paymentsign with tilted rectangular panel using the left arm, then rotate it until the qrcode faces you.", + "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.", + "Catch the paymentsign showing QR code label, raise it, and turn it so the QR code faces you", + "Grab the rectangular paymentsign with colorful top, lift it from the table, and rotate it QR front", + "Use the left arm to take the beige paymentsign with printed details and turn it until the QR code faces you", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.", + "Employ the left arm to seize the paymentsign showing QR code label, raise it, and rotate it QR-forward", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Lift the rectangular paymentsign with colorful top from the table and turn it to face you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and turn the qrcode towards you." + ], + "unseen": [ + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode30.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..ad1c98df22d12acb60171325ff73a4f5a6c12890 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the yellow and white payment display, lift, and turn it QR code forward", + "Use the left arm to lift the rectangular paymentsign with stand and rotate it QR code toward you.", + "Slide the white rectangular paymentsign with yellow details off the table and turn it to face you.", + "Catch the white stand sign, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the sign with yellow payment section and rotate it until the QR faces forward", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Catch the white paymentsign with raised base, lift, and rotate to align the qrcode to you.", + "Pick the smooth plastic paymentsign with QR code up, rotate it, and ensure the QR code faces you.", + "Use the left arm to take the white paymentsign with raised base and turn it until the QR code faces you", + "Use the left arm to grab the white rectangular paymentsign with yellow details, rotate, and face the QR code towards you.", + "Find the paymentsign with QR code area, grab it, and turn it towards yourself.", + "Pick up the smooth plastic paymentsign with QR code and rotate it so the QR code faces you", + "Use the left arm to grab the white paymentsign with raised base and point its QR code toward you.", + "Use the left arm to pick the yellow and white payment display and turn it towards you.", + "Lift the tabletop paymentsign and orient its QR code toward you with the left arm.", + "Lift the white rectangular paymentsign with yellow details and rotate for its qrcode to face you.", + "Pick up the plastic smooth paymentsign and adjust its position to face the qrcode towards you.", + "Lift the white stand sign with the left arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Grab the plastic smooth paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the yellow and white payment display off the table and rotate its qrcode to you.", + "Use the left arm to lift the white paymentsign with raised base from the table and face the qrcode.", + "Catch the yellow panel white paymentsign, lift it, and rotate it QR code facing.", + "Grab the plastic smooth paymentsign, lift it from the table, and rotate it QR front", + "Pick the yellow and white payment display up, then rotate to make its qrcode visible.", + "Pick the rectangular paymentsign with stand up and turn its QR code toward you using the left arm.", + "Take the plastic smooth paymentsign, lift it, and orient it so the QR faces you", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with QR code area from the table and rotate it towards you", + "Lift the yellow and white payment display from the table and rotate it so the code faces you.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Lift the smooth plastic paymentsign with QR code from the table, turning it QR code forward.", + "Using the left arm, catch the yellow and white payment display and rotate it to face the QR code.", + "Lift the rectangular paymentsign with stand and rotate it until the QR code faces you.", + "Take the paymentsign with QR code area from the table, rotating it QR code toward you.", + "Catch the plastic smooth paymentsign, raise it, and turn it so the QR code faces you", + "Catch the rectangular paymentsign with stand, pick it up, and rotate to view the qrcode.", + "Catch the rectangular paymentsign with stand, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Grab the paymentsign with QR code area with the left arm, then rotate it to face yourself.", + "Grab the paymentsign with QR code area, pick it up, and turn its qrcode toward you.", + "Grab the white stand sign using the left arm, then rotate the QR code to face forward.", + "Lift the paymentsign with QR code area and rotate until its qrcode faces you.", + "Employ the left arm to seize the white rectangular paymentsign with yellow details, raise it, and rotate it QR-forward", + "Locate the sign with yellow payment section, pick it up, and adjust its angle.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and rotate the qrcode to face you.", + "Catch and lift the white stand sign, then turn it to show the QR code.", + "Catch the white rectangular paymentsign with yellow details using the left arm, pick it up, and turn it to face the QR code.", + "Take the white rectangular paymentsign with yellow details, raise it, and make the qrcode face you.", + "Use the left arm to grab the sign with yellow payment section, lift, and turn it QR code forward", + "Use the left arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Slide the yellow and white payment display off the table and turn it to face you.", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the yellow and white payment display and rotate it until the QR faces forward", + "Lift the smooth plastic paymentsign with QR code from the table and turn it to face you.", + "Catch the white stand sign, lift, and rotate to align the qrcode to you.", + "Pick the smooth plastic paymentsign with QR code up, rotate it, and ensure the QR code faces you.", + "Use the left arm to take the sign with yellow payment section and turn it until the QR code faces you", + "Use the left arm to grab the plastic smooth paymentsign, rotate, and face the QR code towards you.", + "Find the yellow and white payment display, grab it, and turn it towards yourself.", + "Pick up the white rectangular paymentsign with yellow details and rotate it so the QR code faces you", + "Use the left arm to grab the tabletop paymentsign and point its QR code toward you.", + "Use the left arm to pick the rectangular paymentsign with stand and turn it towards you.", + "Lift the tabletop paymentsign and orient its QR code toward you with the left arm.", + "Lift the yellow and white payment display and rotate for its qrcode to face you.", + "Pick up the rectangular paymentsign with stand and adjust its position to face the qrcode towards you.", + "Lift the plastic smooth paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Catch the rectangular paymentsign with stand with the left arm, then rotate it to make the QR code visible.", + "Grab the yellow panel white paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to lift the yellow and white payment display from the table and face the qrcode.", + "Catch the white stand sign, lift it, and rotate it QR code facing.", + "Grab the yellow and white payment display, lift it from the table, and rotate it QR front", + "Pick the yellow and white payment display up, then rotate to make its qrcode visible.", + "Pick the yellow panel white paymentsign up and turn its QR code toward you using the left arm.", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Grab the sign with yellow payment section using the left arm, lift, and rotate until QR code faces you.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to show the QR code.", + "Lift the white paymentsign with raised base from the table and rotate it towards you", + "Lift the yellow panel white paymentsign from the table and rotate it so the code faces you.", + "Lift the smooth plastic paymentsign with QR code from the surface and adjust its angle towards you", + "Lift the plastic smooth paymentsign from the table, turning it QR code forward.", + "Using the left arm, catch the yellow and white payment display and rotate it to face the QR code.", + "Lift the rectangular paymentsign with stand and rotate it until the QR code faces you.", + "Take the white rectangular paymentsign with yellow details from the table, rotating it QR code toward you.", + "Catch the white stand sign, raise it, and turn it so the QR code faces you", + "Catch the yellow and white payment display, pick it up, and rotate to view the qrcode.", + "Catch the yellow panel white paymentsign, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and rotate QR code towards you.", + "Grab the white paymentsign with raised base with the left arm, then rotate it to face yourself.", + "Grab the plastic smooth paymentsign, pick it up, and turn its qrcode toward you.", + "Grab the white paymentsign with raised base using the left arm, then rotate the QR code to face forward.", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Employ the left arm to seize the sign with yellow payment section, raise it, and rotate it QR-forward", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and rotate the qrcode to face you.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Catch the smooth plastic paymentsign with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Take the paymentsign, raise it, and make the qrcode face you." + ], + "unseen": [ + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode31.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..094fb26cdbf4ce81154b236727e1db641ca91c41 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Catch the small payment stand with black base, raise it, and turn it so the QR code faces you", + "Use the right arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Using the right arm, catch the small black stand for payments and rotate it to face the QR code.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Catch and lift the gray top with QR code, then turn it to show the QR code.", + "Catch the payment sign with angled face, lift, and rotate to align the qrcode to you.", + "Use the right arm to pick the small black stand for payments and turn it towards you.", + "Grab the small payment stand with black base using the right arm, lift, and rotate until QR code faces you.", + "Grab the small payment stand with black base, lift it from the table, and rotate it QR front", + "Take the payment sign with green logo from the table, rotating it QR code toward you.", + "Use the right arm to grab the gray top with QR code and rotate QR code towards you.", + "Lift the slanted gray panel for QR code scan and rotate for its qrcode to face you.", + "Use the right arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Take the payment sign with angled face, lift it, and orient it so the QR faces you", + "Lift the gray slanted panel with text and orient its QR code toward you with the right arm.", + "Catch the green payment logo on gray top, lift it, and adjust its QR code to face you.", + "Catch the slanted gray panel for QR code scan, lift it, and rotate it QR code facing.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Grab the payment sign with angled face with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Employ the right arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Pick up the gray slanted panel with text and adjust its position to face the qrcode towards you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it towards you", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Lift the slanted gray panel for QR code scan with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the tabletop-sized payment sign off the table and rotate its qrcode to you.", + "Use the right arm to lift the gray slanted panel with text and rotate it QR code toward you.", + "Use the right arm to lift the small black stand for payments from the table and face the qrcode.", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Use the right arm to grab the slanted gray panel for QR code scan and point its QR code toward you.", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Find the black base with tilted gray panel, grab it, and turn it towards yourself.", + "Pick up the gray slanted panel with text and rotate it so the QR code faces you", + "Grab the triangular stand with QR code using the right arm, then rotate it until the qrcode faces you.", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Grab the payment sign with green logo using the right arm, then rotate the QR code to face forward.", + "Catch the green payment logo on gray top with the right arm, then rotate it to make the QR code visible.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Pick the triangular stand with QR code up, rotate it, and ensure the QR code faces you.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the right arm.", + "Lift the black base with tilted gray panel and rotate it until the QR code faces you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Catch the gray top with QR code, raise it, and turn it so the QR code faces you", + "Use the right arm to take the small black stand for payments and turn it until the QR code faces you", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Using the right arm, catch the slanted gray panel for QR code scan and rotate it to face the QR code.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to pick the tabletop-sized payment sign and turn it towards you.", + "Grab the small black stand for payments using the right arm, lift, and rotate until QR code faces you.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Take the small payment stand with black base from the table, rotating it QR code toward you.", + "Use the right arm to grab the triangular stand with QR code and rotate QR code towards you.", + "Lift the tabletop-sized payment sign and rotate for its qrcode to face you.", + "Use the right arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Lift the tabletop-sized payment sign and orient its QR code toward you with the right arm.", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Locate the gray slanted panel with text, pick it up, and adjust its angle.", + "Lift the small black stand for payments and rotate until its qrcode faces you.", + "Lift the black base with tilted gray panel from the table, turning it QR code forward.", + "Grab the black base with tilted gray panel with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the slanted gray panel for QR code scan, rotate, and face the QR code towards you.", + "Employ the right arm to seize the small black stand for payments, raise it, and rotate it QR-forward", + "Pick up the black base with tilted gray panel and adjust its position to face the qrcode towards you.", + "Lift the triangular stand with QR code from the table and rotate it towards you", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Catch the payment sign with green logo using the right arm, pick it up, and turn it to face the QR code.", + "Lift the green payment logo on gray top with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign and rotate the qrcode to face you.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Catch the triangular stand with QR code off the table and rotate its qrcode to you.", + "Use the right arm to lift the tabletop-sized payment sign and rotate it QR code toward you.", + "Use the right arm to lift the payment sign with green logo from the table and face the qrcode.", + "Slide the paymentsign off the table and turn it to face you.", + "Use the right arm to grab the gray slanted panel with text and point its QR code toward you.", + "Lift the green payment logo on gray top from the table and turn it to face you.", + "Find the payment sign with angled face, grab it, and turn it towards yourself.", + "Pick up the payment sign with angled face and rotate it so the QR code faces you", + "Grab the slanted gray panel for QR code scan using the right arm, then rotate it until the qrcode faces you.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Grab the small black stand for payments using the right arm, then rotate the QR code to face forward.", + "Catch the small payment stand with black base with the right arm, then rotate it to make the QR code visible.", + "Lift the slanted gray panel for QR code scan from the surface and adjust its angle towards you", + "Pick the slanted gray panel for QR code scan up, rotate it, and ensure the QR code faces you.", + "Pick the gray top with QR code up and turn its QR code toward you using the right arm.", + "Lift the gray top with QR code and rotate it until the QR code faces you." + ], + "unseen": [ + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode32.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..5b7d4f3c359d91e58156af9a1468375ee81b1403 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to take the blue and white paymentsign and turn it until the QR code faces you", + "Lift the paymentsign with angled black stand from the table and turn it to face you.", + "Grab the small glossy paymentsign, lift it from the table, and rotate it QR front", + "Grab the paymentsign with glossy blue panel with the left arm, then rotate it to face yourself.", + "Grab the rectangular plastic paymentsign with codes using the left arm, then rotate it until the qrcode faces you.", + "Pick up the smooth surface paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the paymentsign for scanning QR codes and rotate the qrcode to face you.", + "Use the left arm to grab the small paymentsign with stand, rotate, and face the QR code towards you.", + "Take the paymentsign for scanning QR codes from the table, rotating it QR code toward you.", + "Pick the blue and white paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign with printed QR codes, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to view the qrcode.", + "Locate the paymentsign with angled black stand, pick it up, and adjust its angle.", + "Pick the paymentsign for scanning QR codes up, then rotate to make its qrcode visible.", + "Lift the blue and white rectangular paymentsign from the surface and adjust its angle towards you", + "Catch the rectangular plastic paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the paymentsign for scanning QR codes and point its QR code toward you.", + "Lift the paymentsign with glossy blue panel from the table, turning it QR code forward.", + "Lift the blue and white rectangular paymentsign and rotate for its qrcode to face you.", + "Lift the blue and white paymentsign and rotate it until the QR code faces you.", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Catch the paymentsign with glossy blue panel, lift it, and adjust its QR code to face you.", + "Pick the small glossy paymentsign up and turn its QR code toward you using the left arm.", + "Catch the paymentsign with printed QR codes with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the blue and white paymentsign, lift, and turn it QR code forward", + "Lift the paymentsign with printed QR codes and rotate until its qrcode faces you.", + "Use the left arm to lift the paymentsign with angled black stand from the table and face the qrcode.", + "Lift the paymentsign with angled black stand with the left arm, then rotate it to make the qrcode visible.", + "Employ the left arm to seize the small glossy paymentsign, raise it, and rotate it QR-forward", + "Catch the small glossy paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Find the small glossy paymentsign, grab it, and turn it towards yourself.", + "Lift the rectangular plastic paymentsign with codes and orient its QR code toward you with the left arm.", + "Grab the blue and white paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the paymentsign with glossy blue panel and rotate QR code towards you.", + "Catch the paymentsign with printed QR codes, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the paymentsign with glossy blue panel and rotate it QR code toward you.", + "Using the left arm, catch the rectangular plastic paymentsign with codes and rotate it to face the QR code.", + "Pick up the small paymentsign with stand and rotate it so the QR code faces you", + "Catch the blue and white paymentsign, lift it, and rotate it QR code facing.", + "Catch the small glossy paymentsign, lift it, and turn the qrcode towards you.", + "Take the paymentsign with printed QR codes, raise it, and make the qrcode face you.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Grab the small glossy paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Catch the blue and white paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to pick the paymentsign with glossy blue panel and turn it towards you.", + "Lift the small glossy paymentsign from the table and rotate it so the code faces you.", + "Catch and lift the smooth surface paymentsign, then turn it to show the QR code.", + "Catch the small paymentsign with stand, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the paymentsign with angled black stand and rotate it until the QR faces forward", + "Take the smooth surface paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to take the paymentsign with printed QR codes and turn it until the QR code faces you", + "Lift the rectangular plastic paymentsign with codes from the table and turn it to face you.", + "Grab the rectangular plastic paymentsign with codes, lift it from the table, and rotate it QR front", + "Grab the paymentsign with printed QR codes with the left arm, then rotate it to face yourself.", + "Grab the paymentsign with angled black stand using the left arm, then rotate it until the qrcode faces you.", + "Pick up the rectangular plastic paymentsign with codes and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the paymentsign for scanning QR codes and rotate the qrcode to face you.", + "Use the left arm to grab the paymentsign with printed QR codes, rotate, and face the QR code towards you.", + "Take the blue and white paymentsign from the table, rotating it QR code toward you.", + "Pick the tabletop paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the smooth surface paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to view the qrcode.", + "Locate the paymentsign with printed QR codes, pick it up, and adjust its angle.", + "Pick the rectangular plastic paymentsign up, then rotate to make its qrcode visible.", + "Lift the smooth surface paymentsign from the surface and adjust its angle towards you", + "Catch the smooth surface paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the rectangular plastic paymentsign with codes and point its QR code toward you.", + "Lift the smooth surface paymentsign from the table, turning it QR code forward.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Lift the rectangular plastic paymentsign with codes and rotate it until the QR code faces you.", + "Slide the small paymentsign with stand off the table and turn it to face you.", + "Catch the paymentsign with angled black stand, lift it, and adjust its QR code to face you.", + "Pick the small glossy paymentsign up and turn its QR code toward you using the left arm.", + "Catch the small glossy paymentsign with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the blue and white paymentsign, lift, and turn it QR code forward", + "Lift the blue and white rectangular paymentsign and rotate until its qrcode faces you.", + "Use the left arm to lift the smooth surface paymentsign from the table and face the qrcode.", + "Lift the paymentsign with printed QR codes with the left arm, then rotate it to make the qrcode visible.", + "Employ the left arm to seize the blue and white rectangular paymentsign, raise it, and rotate it QR-forward", + "Catch the tabletop paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Find the blue and white paymentsign, grab it, and turn it towards yourself.", + "Lift the paymentsign for scanning QR codes and orient its QR code toward you with the left arm.", + "Grab the rectangular plastic paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the smooth surface paymentsign and rotate QR code towards you.", + "Catch the blue and white paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the smooth surface paymentsign and rotate it QR code toward you.", + "Using the left arm, catch the rectangular plastic paymentsign with codes and rotate it to face the QR code.", + "Pick up the small glossy paymentsign and rotate it so the QR code faces you", + "Catch the paymentsign with angled black stand, lift it, and rotate it QR code facing.", + "Catch the paymentsign with printed QR codes, lift it, and turn the qrcode towards you.", + "Take the blue and white rectangular paymentsign, raise it, and make the qrcode face you.", + "Lift the smooth surface paymentsign from the table and rotate it towards you", + "Grab the paymentsign with printed QR codes using the left arm, lift, and rotate until QR code faces you.", + "Catch the rectangular plastic paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to pick the rectangular plastic paymentsign and turn it towards you.", + "Lift the paymentsign with angled black stand from the table and rotate it so the code faces you.", + "Catch and lift the rectangular plastic paymentsign with codes, then turn it to show the QR code.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Take the blue and white rectangular paymentsign, lift it, and orient it so the QR faces you" + ], + "unseen": [ + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode33.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..7873e458fde483cbf0453b6344b1c2454537ff64 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift the small black stand for payments from the table and face the qrcode.", + "Lift the triangular stand with QR code from the table, turning it QR code forward.", + "Grab the payment sign with green logo with the left arm, then rotate it to face yourself.", + "Catch the green payment logo on gray top using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the payment sign with green logo and rotate the qrcode to face you.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate QR code towards you.", + "Catch the small payment stand with black base, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the payment sign with green logo and point its QR code toward you.", + "Take the slanted gray panel for QR code scan, lift it, and orient it so the QR faces you", + "Lift the slanted gray panel for QR code scan from the table and rotate it towards you", + "Catch the gray slanted panel with text off the table and rotate its qrcode to you.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Take the triangular stand with QR code, raise it, and make the qrcode face you.", + "Grab the small black stand for payments using the left arm, then rotate it until the qrcode faces you.", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Catch the small payment stand with black base with the left arm, then rotate it to make the QR code visible.", + "Find the small black stand for payments, grab it, and turn it towards yourself.", + "Catch the payment sign with green logo, lift, and rotate to align the qrcode to you.", + "Use the left arm to take the gray slanted panel with text and turn it until the QR code faces you", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Lift the black base with tilted gray panel from the table and turn it to face you.", + "Slide the slanted gray panel for QR code scan off the table and turn it to face you.", + "Lift the payment sign with angled face and rotate until its qrcode faces you.", + "Use the left arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you", + "Lift the slanted gray panel for QR code scan and orient its QR code toward you with the left arm.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Catch the gray slanted panel with text, pick it up, and rotate to show the QR code.", + "Pick up the black base with tilted gray panel and rotate it so the QR code faces you", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Lift the slanted gray panel for QR code scan with the left arm, then rotate it to make the qrcode visible.", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Lift the green payment logo on gray top and rotate it until the QR code faces you.", + "Use the left arm to lift the tabletop-sized payment sign and rotate it QR code toward you.", + "Use the left arm to pick the black base with tilted gray panel and turn it towards you.", + "Lift the gray slanted panel with text and rotate for its qrcode to face you.", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Catch and lift the small payment stand with black base, then turn it to show the QR code.", + "Grab the gray slanted panel with text using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the payment sign with green logo, rotate, and face the QR code towards you.", + "Grab the black base with tilted gray panel, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Employ the left arm to seize the gray top with QR code, raise it, and rotate it QR-forward", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Using the left arm, catch the gray top with QR code and rotate it to face the QR code.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Locate the green payment logo on gray top, pick it up, and adjust its angle.", + "Pick the small black stand for payments up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the payment sign with angled face from the table and face the qrcode.", + "Lift the gray top with QR code from the table, turning it QR code forward.", + "Grab the gray slanted panel with text with the left arm, then rotate it to face yourself.", + "Catch the green payment logo on gray top using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Use the left arm to grab the gray top with QR code and rotate QR code towards you.", + "Catch the triangular stand with QR code, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the small black stand for payments and point its QR code toward you.", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Take the tabletop-sized payment sign, raise it, and make the qrcode face you.", + "Grab the gray slanted panel with text using the left arm, then rotate it until the qrcode faces you.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Grab the paymentsign using the left arm, then rotate the QR code to face forward.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Find the slanted gray panel for QR code scan, grab it, and turn it towards yourself.", + "Catch the slanted gray panel for QR code scan, lift, and rotate to align the qrcode to you.", + "Use the left arm to take the payment sign with angled face and turn it until the QR code faces you", + "Lift the gray top with QR code from the surface and adjust its angle towards you", + "Lift the triangular stand with QR code from the table and turn it to face you.", + "Slide the small payment stand with black base off the table and turn it to face you.", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Pick the triangular stand with QR code up, then rotate to make its qrcode visible.", + "Catch the small payment stand with black base, raise it, and turn it so the QR code faces you", + "Lift the tabletop-sized payment sign and orient its QR code toward you with the left arm.", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the left arm.", + "Catch the gray slanted panel with text, pick it up, and rotate to show the QR code.", + "Pick up the gray slanted panel with text and rotate it so the QR code faces you", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Lift the small payment stand with black base with the left arm, then rotate it to make the qrcode visible.", + "Pick up the gray slanted panel with text and adjust its position to face the qrcode towards you.", + "Lift the triangular stand with QR code and rotate it until the QR code faces you.", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Use the left arm to pick the black base with tilted gray panel and turn it towards you.", + "Lift the tabletop-sized payment sign and rotate for its qrcode to face you.", + "Catch the small payment stand with black base, pick it up, and rotate to view the qrcode.", + "Catch and lift the gray top with QR code, then turn it to show the QR code.", + "Grab the triangular stand with QR code using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the slanted gray panel for QR code scan, rotate, and face the QR code towards you.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Employ the left arm to seize the payment sign with green logo, raise it, and rotate it QR-forward", + "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.", + "Using the left arm, catch the green payment logo on gray top and rotate it to face the QR code.", + "Grab the gray slanted panel with text, lift it from the table, and rotate it QR front", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you." + ], + "unseen": [ + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode34.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..0bcfd3bb053fd47539e7aad55b7f306718f68ab1 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the smooth surface paymentsign and point its QR code toward you.", + "Catch the smooth surface paymentsign off the table and rotate its qrcode to you.", + "Use the right arm to pick the rectangular plastic paymentsign and turn it towards you.", + "Grab the small paymentsign with stand using the right arm, then rotate the QR code to face forward.", + "Take the rectangular plastic paymentsign from the table, rotating it QR code toward you.", + "Pick the smooth surface paymentsign up, then rotate to make its qrcode visible.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to show the QR code.", + "Catch the smooth surface paymentsign, lift, and rotate to align the qrcode to you.", + "Grab the paymentsign for scanning QR codes, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign with glossy blue panel and orient its QR code toward you with the right arm.", + "Pick the rectangular plastic paymentsign with codes up and turn its QR code toward you using the right arm.", + "Grab the blue and white paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to view the qrcode.", + "Use the right arm to take the paymentsign for scanning QR codes and turn it until the QR code faces you", + "Lift the paymentsign with glossy blue panel and rotate it until the QR code faces you.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Pick up the blue and white rectangular paymentsign and rotate it so the QR code faces you", + "Use the right arm to lift the blue and white rectangular paymentsign from the table and face the qrcode.", + "Slide the blue and white rectangular paymentsign off the table and turn it to face you.", + "Catch the rectangular plastic paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with printed QR codes, lift it, and rotate it QR code facing.", + "Take the paymentsign with printed QR codes, lift it, and orient it so the QR faces you", + "Use the right arm to lift the blue and white paymentsign and rotate it QR code toward you.", + "Grab the rectangular plastic paymentsign with codes using the right arm, lift, and rotate until QR code faces you.", + "Take the paymentsign for scanning QR codes, raise it, and make the qrcode face you.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Pick up the rectangular plastic paymentsign with codes and adjust its position to face the qrcode towards you.", + "Catch the small paymentsign with stand, raise it, and turn it so the QR code faces you", + "Lift the paymentsign with angled black stand from the table and rotate it so the code faces you.", + "Use the right arm to grab the paymentsign with angled black stand and rotate it until the QR faces forward", + "Catch the small paymentsign with stand, lift it, and turn the qrcode towards you.", + "Lift the paymentsign for scanning QR codes from the surface and adjust its angle towards you", + "Use the right arm to grab the blue and white paymentsign, lift, and turn it QR code forward", + "Lift the paymentsign with glossy blue panel with the right arm, then rotate it to make the qrcode visible.", + "Using the right arm, catch the rectangular plastic paymentsign and rotate it to face the QR code.", + "Lift the paymentsign with glossy blue panel and rotate until its qrcode faces you.", + "Lift the rectangular plastic paymentsign from the table, turning it QR code forward.", + "Lift the blue and white rectangular paymentsign from the table and turn it to face you.", + "Catch and lift the small glossy paymentsign, then turn it to show the QR code.", + "Employ the right arm to seize the paymentsign with printed QR codes, raise it, and rotate it QR-forward", + "Catch the paymentsign with glossy blue panel with the right arm, then rotate it to make the QR code visible.", + "Locate the small paymentsign with stand, pick it up, and adjust its angle.", + "Use the right arm to grab the paymentsign with glossy blue panel and rotate QR code towards you.", + "Find the rectangular plastic paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to grab the blue and white rectangular paymentsign, rotate, and face the QR code towards you.", + "Grab the small glossy paymentsign with the right arm, then rotate it to face yourself.", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign for scanning QR codes, lift it from the table, and rotate it QR front", + "Use the right arm to grab the paymentsign for scanning QR codes and rotate the qrcode to face you.", + "Catch the blue and white rectangular paymentsign, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the small paymentsign with stand and point its QR code toward you.", + "Catch the paymentsign with glossy blue panel off the table and rotate its qrcode to you.", + "Use the right arm to pick the small paymentsign with stand and turn it towards you.", + "Grab the paymentsign with printed QR codes using the right arm, then rotate the QR code to face forward.", + "Take the paymentsign for scanning QR codes from the table, rotating it QR code toward you.", + "Pick the small paymentsign with stand up, then rotate to make its qrcode visible.", + "Catch the blue and white paymentsign, pick it up, and rotate to show the QR code.", + "Catch the tabletop paymentsign, lift, and rotate to align the qrcode to you.", + "Grab the smooth surface paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the tabletop paymentsign and orient its QR code toward you with the right arm.", + "Pick the rectangular plastic paymentsign with codes up and turn its QR code toward you using the right arm.", + "Grab the small paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign for scanning QR codes, pick it up, and rotate to view the qrcode.", + "Use the right arm to take the rectangular plastic paymentsign and turn it until the QR code faces you", + "Lift the smooth surface paymentsign and rotate it until the QR code faces you.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Pick up the rectangular plastic paymentsign and rotate it so the QR code faces you", + "Use the right arm to lift the paymentsign for scanning QR codes from the table and face the qrcode.", + "Slide the small paymentsign with stand off the table and turn it to face you.", + "Catch the smooth surface paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the tabletop paymentsign, lift it, and rotate it QR code facing.", + "Take the small paymentsign with stand, lift it, and orient it so the QR faces you", + "Use the right arm to lift the blue and white rectangular paymentsign and rotate it QR code toward you.", + "Grab the rectangular plastic paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Take the paymentsign with angled black stand, raise it, and make the qrcode face you.", + "Lift the small paymentsign with stand and rotate for its qrcode to face you.", + "Pick up the small paymentsign with stand and adjust its position to face the qrcode towards you.", + "Catch the blue and white paymentsign, raise it, and turn it so the QR code faces you", + "Lift the tabletop paymentsign from the table and rotate it so the code faces you.", + "Use the right arm to grab the paymentsign for scanning QR codes and rotate it until the QR faces forward", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Lift the paymentsign with glossy blue panel from the surface and adjust its angle towards you", + "Use the right arm to grab the small glossy paymentsign, lift, and turn it QR code forward", + "Lift the paymentsign with angled black stand with the right arm, then rotate it to make the qrcode visible.", + "Using the right arm, catch the paymentsign with glossy blue panel and rotate it to face the QR code.", + "Lift the rectangular plastic paymentsign with codes and rotate until its qrcode faces you.", + "Lift the paymentsign with angled black stand from the table, turning it QR code forward.", + "Lift the rectangular plastic paymentsign from the table and turn it to face you.", + "Catch and lift the small glossy paymentsign, then turn it to show the QR code.", + "Employ the right arm to seize the paymentsign with glossy blue panel, raise it, and rotate it QR-forward", + "Catch the smooth surface paymentsign with the right arm, then rotate it to make the QR code visible.", + "Locate the smooth surface paymentsign, pick it up, and adjust its angle.", + "Use the right arm to grab the paymentsign with printed QR codes and rotate QR code towards you.", + "Find the paymentsign for scanning QR codes, grab it, and turn it towards yourself.", + "Use the right arm to grab the paymentsign with angled black stand, rotate, and face the QR code towards you.", + "Grab the small paymentsign with stand with the right arm, then rotate it to face yourself.", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Grab the tabletop paymentsign, lift it from the table, and rotate it QR front", + "Use the right arm to grab the rectangular plastic paymentsign with codes and rotate the qrcode to face you.", + "Catch the blue and white rectangular paymentsign, lift it, and adjust its QR code to face you." + ], + "unseen": [ + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode35.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..9de23d4a24cb5cacfb0f99672e861ec7186fa25a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the paymentsign from the table and rotate it towards you", + "Employ the left arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Catch and lift the slanted gray panel for QR code scan, then turn it to show the QR code.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Pick the payment sign with green logo up, then rotate to make its qrcode visible.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Catch the small payment stand with black base, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Use the left arm to grab the triangular stand with QR code and rotate QR code towards you.", + "Use the left arm to take the gray top with QR code and turn it until the QR code faces you", + "Use the left arm to lift the triangular stand with QR code from the table and face the qrcode.", + "Catch the green payment logo on gray top, pick it up, and rotate to view the qrcode.", + "Lift the gray slanted panel with text and orient its QR code toward you with the left arm.", + "Grab the green payment logo on gray top, pick it up, and turn its qrcode toward you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Catch the tabletop-sized payment sign with the left arm, then rotate it to make the QR code visible.", + "Pick the black base with tilted gray panel up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Take the small payment stand with black base, lift it, and orient it so the QR faces you", + "Use the left arm to grab the triangular stand with QR code and rotate it until the QR faces forward", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Lift the gray slanted panel with text with the left arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to grab the slanted gray panel for QR code scan, lift, and turn it QR code forward", + "Lift the small black stand for payments and rotate for its qrcode to face you.", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Find the small black stand for payments, grab it, and turn it towards yourself.", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Lift the green payment logo on gray top and rotate until its qrcode faces you.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Use the left arm to pick the small payment stand with black base and turn it towards you.", + "Grab the triangular stand with QR code with the left arm, then rotate it to face yourself.", + "Use the left arm to lift the small black stand for payments and rotate it QR code toward you.", + "Grab the green payment logo on gray top using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Catch the gray slanted panel with text using the left arm, pick it up, and turn it to face the QR code.", + "Using the left arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Lift the small payment stand with black base from the surface and adjust its angle towards you", + "Lift the gray slanted panel with text from the table, turning it QR code forward.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Grab the payment sign with green logo using the left arm, lift, and rotate until QR code faces you.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the left arm.", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it towards you", + "Employ the left arm to seize the green payment logo on gray top, raise it, and rotate it QR-forward", + "Catch and lift the small black stand for payments, then turn it to show the QR code.", + "Locate the gray top with QR code, pick it up, and adjust its angle.", + "Pick the green payment logo on gray top up, then rotate to make its qrcode visible.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Catch the tabletop-sized payment sign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Catch the small black stand for payments, raise it, and turn it so the QR code faces you", + "Slide the payment sign with angled face off the table and turn it to face you.", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you.", + "Use the left arm to grab the payment sign with angled face and rotate QR code towards you.", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Use the left arm to lift the small payment stand with black base from the table and face the qrcode.", + "Catch the black base with tilted gray panel, pick it up, and rotate to view the qrcode.", + "Lift the payment sign with angled face and orient its QR code toward you with the left arm.", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Catch the payment sign with green logo with the left arm, then rotate it to make the QR code visible.", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the tabletop-sized payment sign and point its QR code toward you.", + "Take the black base with tilted gray panel, lift it, and orient it so the QR faces you", + "Use the left arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Lift the black base with tilted gray panel with the left arm, then rotate it to make the qrcode visible.", + "Catch the green payment logo on gray top off the table and rotate its qrcode to you.", + "Use the left arm to grab the black base with tilted gray panel, lift, and turn it QR code forward", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Catch the small black stand for payments, lift it, and adjust its QR code to face you.", + "Find the black base with tilted gray panel, grab it, and turn it towards yourself.", + "Lift the payment sign with green logo and rotate it until the QR code faces you.", + "Lift the small black stand for payments and rotate until its qrcode faces you.", + "Catch the payment sign with angled face, pick it up, and rotate to show the QR code.", + "Pick up the payment sign with angled face and rotate it so the QR code faces you", + "Pick up the gray top with QR code and adjust its position to face the qrcode towards you.", + "Use the left arm to pick the green payment logo on gray top and turn it towards you.", + "Grab the triangular stand with QR code with the left arm, then rotate it to face yourself.", + "Use the left arm to lift the gray top with QR code and rotate it QR code toward you.", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Catch the small black stand for payments using the left arm, pick it up, and turn it to face the QR code.", + "Using the left arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Lift the triangular stand with QR code from the table, turning it QR code forward.", + "Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.", + "Grab the tabletop-sized payment sign using the left arm, lift, and rotate until QR code faces you.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the left arm.", + "Lift the paymentsign from the table and turn it to face you." + ], + "unseen": [ + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode36.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..bfc22cd9f7f45f5a50928084246e94799bb2dacd --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the tabletop-sized payment sign and rotate QR code towards you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Catch the small payment stand with black base, lift, and rotate to align the qrcode to you.", + "Lift the small payment stand with black base and rotate until its qrcode faces you.", + "Use the left arm to take the small black stand for payments and turn it until the QR code faces you", + "Lift the gray slanted panel with text with the left arm, then rotate it to make the qrcode visible.", + "Catch and lift the green payment logo on gray top, then turn it to show the QR code.", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Use the left arm to grab the small payment stand with black base, lift, and turn it QR code forward", + "Pick up the slanted gray panel for QR code scan and rotate it so the QR code faces you", + "Lift the gray top with QR code from the surface and adjust its angle towards you", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Catch the triangular stand with QR code, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Pick the payment sign with angled face up and turn its QR code toward you using the left arm.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Pick up the gray slanted panel with text and adjust its position to face the qrcode towards you.", + "Lift the triangular stand with QR code and rotate it until the QR code faces you.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Pick the gray top with QR code up, rotate it, and ensure the QR code faces you.", + "Lift the payment sign with green logo from the table and turn it to face you.", + "Lift the small payment stand with black base from the table, turning it QR code forward.", + "Grab the small black stand for payments using the left arm, lift, and rotate until QR code faces you.", + "Lift the triangular stand with QR code and orient its QR code toward you with the left arm.", + "Use the left arm to lift the payment sign with green logo from the table and face the qrcode.", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Grab the small payment stand with black base using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Slide the small black stand for payments off the table and turn it to face you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Use the left arm to pick the tabletop-sized payment sign and turn it towards you.", + "Catch the black base with tilted gray panel with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the small payment stand with black base and point its QR code toward you.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Grab the gray slanted panel with text using the left arm, then rotate the QR code to face forward.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Catch the tabletop-sized payment sign, lift it, and turn the qrcode towards you.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the slanted gray panel for QR code scan, rotate, and face the QR code towards you.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Employ the left arm to seize the black base with tilted gray panel, raise it, and rotate it QR-forward", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Using the left arm, catch the gray top with QR code and rotate it to face the QR code.", + "Lift the small payment stand with black base from the table and rotate it so the code faces you.", + "Grab the payment sign with green logo with the left arm, then rotate it to face yourself.", + "Grab the payment sign with angled face, pick it up, and turn its qrcode toward you.", + "Catch the gray slanted panel with text using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the small black stand for payments and rotate QR code towards you.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Catch the gray slanted panel with text, lift, and rotate to align the qrcode to you.", + "Lift the small black stand for payments and rotate until its qrcode faces you.", + "Use the left arm to take the payment sign with angled face and turn it until the QR code faces you", + "Lift the tabletop-sized payment sign with the left arm, then rotate it to make the qrcode visible.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Use the left arm to grab the payment sign with angled face and rotate it until the QR faces forward", + "Use the left arm to grab the small payment stand with black base, lift, and turn it QR code forward", + "Pick up the paymentsign and rotate it so the QR code faces you", + "Lift the triangular stand with QR code from the surface and adjust its angle towards you", + "Catch the slanted gray panel for QR code scan off the table and rotate its qrcode to you.", + "Catch the gray top with QR code, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Pick the gray top with QR code up and turn its QR code toward you using the left arm.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Lift the slanted gray panel for QR code scan and rotate it until the QR code faces you.", + "Pick the triangular stand with QR code up, then rotate to make its qrcode visible.", + "Pick the small black stand for payments up, rotate it, and ensure the QR code faces you.", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Grab the payment sign with green logo using the left arm, lift, and rotate until QR code faces you.", + "Lift the black base with tilted gray panel and orient its QR code toward you with the left arm.", + "Use the left arm to lift the small payment stand with black base from the table and face the qrcode.", + "Catch the payment sign with angled face, lift it, and adjust its QR code to face you.", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Grab the small black stand for payments using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the gray top with QR code and rotate the qrcode to face you.", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Use the left arm to pick the payment sign with green logo and turn it towards you.", + "Catch the black base with tilted gray panel with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the tabletop-sized payment sign and point its QR code toward you.", + "Take the gray slanted panel with text, lift it, and orient it so the QR faces you", + "Lift the slanted gray panel for QR code scan and rotate for its qrcode to face you.", + "Grab the black base with tilted gray panel using the left arm, then rotate the QR code to face forward.", + "Find the tabletop-sized payment sign, grab it, and turn it towards yourself.", + "Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the payment sign with green logo, rotate, and face the QR code towards you.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Employ the left arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Using the left arm, catch the triangular stand with QR code and rotate it to face the QR code.", + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Grab the slanted gray panel for QR code scan with the left arm, then rotate it to face yourself.", + "Grab the green payment logo on gray top, pick it up, and turn its qrcode toward you.", + "Catch the small payment stand with black base using the left arm, pick it up, and turn it to face the QR code." + ], + "unseen": [ + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode37.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..ad3760635ed54c699c338c1916e1ca996ce8c0c5 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small paymentsign with stand with the right arm, then rotate it to face yourself.", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the small glossy paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the tabletop paymentsign with the right arm, then rotate it to make the QR code visible.", + "Grab the paymentsign with printed QR codes using the right arm, then rotate the QR code to face forward.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Lift the paymentsign with angled black stand from the table, turning it QR code forward.", + "Lift the paymentsign for scanning QR codes and rotate it until the QR code faces you.", + "Lift the rectangular plastic paymentsign with codes from the table and turn it to face you.", + "Catch the blue and white rectangular paymentsign, lift it, and adjust its QR code to face you.", + "Take the paymentsign with printed QR codes, raise it, and make the qrcode face you.", + "Catch the blue and white paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Slide the paymentsign with glossy blue panel off the table and turn it to face you.", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the small paymentsign with stand, lift, and turn it QR code forward", + "Pick the tabletop paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign with glossy blue panel from the surface and adjust its angle towards you", + "Catch the rectangular plastic paymentsign, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the paymentsign with printed QR codes and rotate QR code towards you.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Find the paymentsign for scanning QR codes, grab it, and turn it towards yourself.", + "Catch the tabletop paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the blue and white paymentsign from the table and rotate it so the code faces you.", + "Catch the small glossy paymentsign, lift, and rotate to align the qrcode to you.", + "Using the right arm, catch the tabletop paymentsign and rotate it to face the QR code.", + "Use the right arm to grab the rectangular plastic paymentsign and point its QR code toward you.", + "Use the right arm to grab the paymentsign for scanning QR codes, rotate, and face the QR code towards you.", + "Grab the rectangular plastic paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign with printed QR codes, lift it from the table, and rotate it QR front", + "Lift the paymentsign with glossy blue panel and orient its QR code toward you with the right arm.", + "Catch and lift the rectangular plastic paymentsign with codes, then turn it to show the QR code.", + "Pick up the blue and white rectangular paymentsign and adjust its position to face the qrcode towards you.", + "Grab the small glossy paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Employ the right arm to seize the paymentsign with printed QR codes, raise it, and rotate it QR-forward", + "Catch the blue and white paymentsign, lift it, and turn the qrcode towards you.", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Lift the small glossy paymentsign from the table and rotate it towards you", + "Pick up the rectangular plastic paymentsign and rotate it so the QR code faces you", + "Catch the rectangular plastic paymentsign with codes, lift it, and rotate it QR code facing.", + "Take the small glossy paymentsign, lift it, and orient it so the QR faces you", + "Use the right arm to lift the paymentsign with printed QR codes and rotate it QR code toward you.", + "Pick the blue and white rectangular paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to pick the smooth surface paymentsign and turn it towards you.", + "Catch the rectangular plastic paymentsign off the table and rotate its qrcode to you.", + "Use the right arm to take the paymentsign with angled black stand and turn it until the QR code faces you", + "Lift the smooth surface paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the rectangular plastic paymentsign and rotate it until the QR faces forward", + "Pick the small glossy paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to lift the blue and white paymentsign from the table and face the qrcode.", + "Use the right arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Grab the small glossy paymentsign with the right arm, then rotate it to face yourself.", + "Grab the blue and white rectangular paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign with printed QR codes with the right arm, then rotate it to make the qrcode visible.", + "Catch the smooth surface paymentsign with the right arm, then rotate it to make the QR code visible.", + "Grab the blue and white paymentsign using the right arm, then rotate the QR code to face forward.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Lift the small paymentsign with stand from the table, turning it QR code forward.", + "Lift the rectangular plastic paymentsign and rotate it until the QR code faces you.", + "Lift the paymentsign with angled black stand from the table and turn it to face you.", + "Catch the paymentsign with angled black stand, lift it, and adjust its QR code to face you.", + "Take the paymentsign with angled black stand, raise it, and make the qrcode face you.", + "Catch the blue and white paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Slide the rectangular plastic paymentsign with codes off the table and turn it to face you.", + "Catch the smooth surface paymentsign, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the paymentsign with angled black stand, lift, and turn it QR code forward", + "Pick the blue and white paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign for scanning QR codes from the surface and adjust its angle towards you", + "Catch the paymentsign for scanning QR codes, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the paymentsign with glossy blue panel and rotate QR code towards you.", + "Take the rectangular plastic paymentsign with codes from the table, rotating it QR code toward you.", + "Find the paymentsign with angled black stand, grab it, and turn it towards yourself.", + "Catch the small paymentsign with stand, pick it up, and rotate to view the qrcode.", + "Lift the smooth surface paymentsign from the table and rotate it so the code faces you.", + "Catch the paymentsign with glossy blue panel, lift, and rotate to align the qrcode to you.", + "Using the right arm, catch the smooth surface paymentsign and rotate it to face the QR code.", + "Use the right arm to grab the tabletop paymentsign and point its QR code toward you.", + "Use the right arm to grab the blue and white paymentsign, rotate, and face the QR code towards you.", + "Grab the rectangular plastic paymentsign with codes using the right arm, then rotate it until the qrcode faces you.", + "Grab the rectangular plastic paymentsign with codes, lift it from the table, and rotate it QR front", + "Lift the small paymentsign with stand and orient its QR code toward you with the right arm.", + "Catch and lift the tabletop paymentsign, then turn it to show the QR code.", + "Pick up the blue and white rectangular paymentsign and adjust its position to face the qrcode towards you.", + "Grab the rectangular plastic paymentsign with codes using the right arm, lift, and rotate until QR code faces you.", + "Employ the right arm to seize the paymentsign for scanning QR codes, raise it, and rotate it QR-forward", + "Catch the blue and white paymentsign, lift it, and turn the qrcode towards you.", + "Lift the blue and white rectangular paymentsign and rotate until its qrcode faces you.", + "Lift the blue and white rectangular paymentsign from the table and rotate it towards you", + "Pick up the small paymentsign with stand and rotate it so the QR code faces you", + "Catch the rectangular plastic paymentsign, lift it, and rotate it QR code facing.", + "Take the blue and white rectangular paymentsign, lift it, and orient it so the QR faces you", + "Use the right arm to lift the small glossy paymentsign and rotate it QR code toward you.", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Use the right arm to pick the rectangular plastic paymentsign with codes and turn it towards you.", + "Catch the rectangular plastic paymentsign off the table and rotate its qrcode to you.", + "Use the right arm to take the smooth surface paymentsign and turn it until the QR code faces you", + "Lift the smooth surface paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the blue and white rectangular paymentsign and rotate it until the QR faces forward", + "Pick the rectangular plastic paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to lift the blue and white rectangular paymentsign from the table and face the qrcode.", + "Use the right arm to grab the paymentsign with angled black stand and rotate the qrcode to face you." + ], + "unseen": [ + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode38.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..30a01a6fb801709148cbb9342e813d14a08c5e12 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Take the paymentsign with tilted rectangular panel, lift it, and orient it so the QR faces you", + "Lift the paymentsign showing QR code label with the right arm, then rotate it to make the qrcode visible.", + "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.", + "Grab the QR code paymentsign with the right arm, then rotate it to face yourself.", + "Pick the small paymentsign for mobile payments up, then rotate to make its qrcode visible.", + "Use the right arm to grab the paymentsign showing QR code label and rotate QR code towards you.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the right arm.", + "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.", + "Lift the compact paymentsign for scanning payments and rotate until its qrcode faces you.", + "Use the right arm to grab the paymentsign showing QR code label and rotate it until the QR faces forward", + "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.", + "Find the smooth beige paymentsign, grab it, and turn it towards yourself.", + "Lift the paymentsign with tilted rectangular panel from the surface and adjust its angle towards you", + "Grab the paymentsign resting on angled base using the right arm, then rotate the QR code to face forward.", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Grab the small paymentsign for mobile payments, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Use the right arm to lift the paymentsign with blue and white text from the table and face the qrcode.", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Catch the stand-up paymentsign with rectangular top with the right arm, then rotate it to make the QR code visible.", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.", + "Use the right arm to lift the compact paymentsign for scanning payments and rotate it QR code toward you.", + "Lift the small paymentsign for mobile payments from the table, turning it QR code forward.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.", + "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.", + "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you", + "Catch the compact paymentsign for scanning payments using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to pick the stand-up paymentsign with rectangular top and turn it towards you.", + "Lift the rectangular paymentsign with colorful top from the table and turn it to face you.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and point its QR code toward you.", + "Grab the small paymentsign for mobile payments using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to take the compact paymentsign for scanning payments and turn it until the QR code faces you", + "Pick the QR code paymentsign up, rotate it, and ensure the QR code faces you.", + "Take the beige paymentsign with printed details, raise it, and make the qrcode face you.", + "Employ the right arm to seize the paymentsign showing QR code label, raise it, and rotate it QR-forward", + "Lift the beige paymentsign from the table and rotate it towards you", + "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the beige paymentsign, lift, and turn it QR code forward", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Grab the small paymentsign for mobile payments using the right arm, lift, and rotate until QR code faces you.", + "Locate the rectangular paymentsign with colorful top, pick it up, and adjust its angle.", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Catch and lift the stand-up paymentsign with rectangular top, then turn it to show the QR code.", + "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.", + "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.", + "Using the right arm, catch the smooth beige paymentsign and rotate it to face the QR code.", + "Lift the paymentsign with blue and white text and orient its QR code toward you with the right arm.", + "Use the right arm to grab the QR code paymentsign, rotate, and face the QR code towards you.", + "Take the paymentsign showing QR code label, lift it, and orient it so the QR faces you", + "Lift the beige paymentsign with printed details with the right arm, then rotate it to make the qrcode visible.", + "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.", + "Grab the paymentsign with tilted rectangular panel with the right arm, then rotate it to face yourself.", + "Pick the small paymentsign for mobile payments up, then rotate to make its qrcode visible.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate QR code towards you.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the right arm.", + "Catch the paymentsign showing QR code label off the table and rotate its qrcode to you.", + "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate it until the QR faces forward", + "Lift the rectangular paymentsign with colorful top and rotate it until the QR code faces you.", + "Find the beige paymentsign with printed details, grab it, and turn it towards yourself.", + "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you", + "Grab the paymentsign with blue and white text using the right arm, then rotate the QR code to face forward.", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Use the right arm to lift the small paymentsign for mobile payments from the table and face the qrcode.", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Catch the stand-up paymentsign with rectangular top with the right arm, then rotate it to make the QR code visible.", + "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.", + "Catch the beige paymentsign with printed details, lift it, and turn the qrcode towards you.", + "Use the right arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Lift the paymentsign resting on angled base from the table, turning it QR code forward.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Pick up the paymentsign showing QR code label and rotate it so the QR code faces you", + "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to pick the paymentsign showing QR code label and turn it towards you.", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Use the right arm to grab the paymentsign showing QR code label and point its QR code toward you.", + "Grab the paymentsign resting on angled base using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to take the compact paymentsign for scanning payments and turn it until the QR code faces you", + "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.", + "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.", + "Employ the right arm to seize the beige paymentsign with printed details, raise it, and rotate it QR-forward", + "Lift the beige paymentsign from the table and rotate it towards you", + "Catch the beige paymentsign with printed details, pick it up, and rotate to show the QR code.", + "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the small paymentsign for mobile payments, lift, and turn it QR code forward", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Grab the beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Locate the stand-up paymentsign with rectangular top, pick it up, and adjust its angle.", + "Catch the small paymentsign for mobile payments, lift it, and rotate it QR code facing.", + "Catch and lift the paymentsign resting on angled base, then turn it to show the QR code.", + "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.", + "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.", + "Using the right arm, catch the QR code paymentsign and rotate it to face the QR code.", + "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the right arm." + ], + "unseen": [ + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode39.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..d61678bfbb40001b56de4d41d496c7b76ecac596 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the black base with tilted gray panel from the table and turn it to face you.", + "Lift the black base with tilted gray panel and orient its QR code toward you with the left arm.", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Use the left arm to pick the green payment logo on gray top and turn it towards you.", + "Using the left arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Lift the small payment stand with black base and rotate for its qrcode to face you.", + "Catch the black base with tilted gray panel using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to lift the gray top with QR code from the table and face the qrcode.", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Pick the payment sign with angled face up, rotate it, and ensure the QR code faces you.", + "Find the gray top with QR code, grab it, and turn it towards yourself.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Pick the black base with tilted gray panel up and turn its QR code toward you using the left arm.", + "Catch the small payment stand with black base, lift it, and turn the qrcode towards you.", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Use the left arm to grab the triangular stand with QR code and rotate QR code towards you.", + "Use the left arm to grab the triangular stand with QR code, rotate, and face the QR code towards you.", + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Grab the black base with tilted gray panel, pick it up, and turn its qrcode toward you.", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Grab the green payment logo on gray top using the left arm, then rotate the QR code to face forward.", + "Pick the payment sign with green logo up, then rotate to make its qrcode visible.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Take the payment sign with angled face, raise it, and make the qrcode face you.", + "Lift the payment sign with angled face and rotate it until the QR code faces you.", + "Grab the small black stand for payments, lift it from the table, and rotate it QR front", + "Catch the triangular stand with QR code, raise it, and turn it so the QR code faces you", + "Catch the gray slanted panel with text off the table and rotate its qrcode to you.", + "Use the left arm to grab the black base with tilted gray panel and rotate it until the QR faces forward", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Use the left arm to lift the gray top with QR code and rotate it QR code toward you.", + "Pick up the tabletop-sized payment sign and rotate it so the QR code faces you", + "Use the left arm to grab the small black stand for payments and rotate the qrcode to face you.", + "Catch the black base with tilted gray panel, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the gray top with QR code, lift, and turn it QR code forward", + "Grab the black base with tilted gray panel using the left arm, then rotate it until the qrcode faces you.", + "Lift the payment sign with green logo and rotate until its qrcode faces you.", + "Take the gray top with QR code, lift it, and orient it so the QR faces you", + "Grab the gray top with QR code with the left arm, then rotate it to face yourself.", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Catch the tabletop-sized payment sign with the left arm, then rotate it to make the QR code visible.", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Employ the left arm to seize the triangular stand with QR code, raise it, and rotate it QR-forward", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Lift the gray top with QR code with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the small payment stand with black base and point its QR code toward you.", + "Lift the payment sign with green logo from the table, turning it QR code forward.", + "Lift the black base with tilted gray panel from the table and turn it to face you.", + "Lift the payment sign with green logo and orient its QR code toward you with the left arm.", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Use the left arm to pick the gray top with QR code and turn it towards you.", + "Using the left arm, catch the slanted gray panel for QR code scan and rotate it to face the QR code.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to lift the gray top with QR code from the table and face the qrcode.", + "Catch the payment sign with angled face, lift it, and rotate it QR code facing.", + "Pick the green payment logo on gray top up, rotate it, and ensure the QR code faces you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Pick the small black stand for payments up and turn its QR code toward you using the left arm.", + "Catch the gray slanted panel with text, lift it, and turn the qrcode towards you.", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Use the left arm to grab the gray slanted panel with text and rotate QR code towards you.", + "Use the left arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it so the code faces you.", + "Grab the tabletop-sized payment sign, pick it up, and turn its qrcode toward you.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Grab the black base with tilted gray panel using the left arm, then rotate the QR code to face forward.", + "Pick the slanted gray panel for QR code scan up, then rotate to make its qrcode visible.", + "Take the triangular stand with QR code from the table, rotating it QR code toward you.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Grab the green payment logo on gray top, lift it from the table, and rotate it QR front", + "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you", + "Catch the tabletop-sized payment sign off the table and rotate its qrcode to you.", + "Use the left arm to grab the payment sign with angled face and rotate it until the QR faces forward", + "Pick up the small black stand for payments and adjust its position to face the qrcode towards you.", + "Locate the gray top with QR code, pick it up, and adjust its angle.", + "Use the left arm to lift the slanted gray panel for QR code scan and rotate it QR code toward you.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the gray slanted panel with text, lift, and turn it QR code forward", + "Grab the gray slanted panel with text using the left arm, then rotate it until the qrcode faces you.", + "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Slide the slanted gray panel for QR code scan off the table and turn it to face you.", + "Catch the gray slanted panel with text with the left arm, then rotate it to make the QR code visible.", + "Grab the gray top with QR code using the left arm, lift, and rotate until QR code faces you.", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Employ the left arm to seize the gray top with QR code, raise it, and rotate it QR-forward", + "Catch the small black stand for payments, lift it, and adjust its QR code to face you.", + "Lift the small black stand for payments with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the payment sign with green logo and point its QR code toward you.", + "Lift the paymentsign from the table, turning it QR code forward." + ], + "unseen": [ + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode4.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..a19f78e1ad0f4902191243c28c7360cfd7c06d28 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the compact paymentsign for scanning payments from the table and rotate it towards you", + "Grab the beige paymentsign with printed details, lift it from the table, and rotate it QR front", + "Catch the small paymentsign for mobile payments with the right arm, then rotate it to make the QR code visible.", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Pick up the small paymentsign for mobile payments and adjust its position to face the qrcode towards you.", + "Grab the smooth beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.", + "Use the right arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.", + "Take the paymentsign with tilted rectangular panel, lift it, and orient it so the QR faces you", + "Use the right arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Lift the stand-up paymentsign with rectangular top and rotate for its qrcode to face you.", + "Pick the smooth beige paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to lift the paymentsign with tilted rectangular panel from the table and face the qrcode.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Grab the beige paymentsign with the right arm, then rotate it to face yourself.", + "Find the paymentsign resting on angled base, grab it, and turn it towards yourself.", + "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you", + "Catch the beige paymentsign, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Use the right arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Lift the compact paymentsign for scanning payments and rotate it until the QR code faces you.", + "Grab the small paymentsign for mobile payments using the right arm, then rotate it until the qrcode faces you.", + "Grab the compact paymentsign for scanning payments using the right arm, lift, and rotate until QR code faces you.", + "Lift the beige paymentsign from the table, turning it QR code forward.", + "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.", + "Locate the QR code paymentsign, pick it up, and adjust its angle.", + "Take the smooth beige paymentsign from the table, rotating it QR code toward you.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.", + "Using the right arm, catch the smooth beige paymentsign and rotate it to face the QR code.", + "Lift the paymentsign with blue and white text and rotate until its qrcode faces you.", + "Lift the QR code paymentsign from the surface and adjust its angle towards you", + "Use the right arm to grab the QR code paymentsign, rotate, and face the QR code towards you.", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the QR code paymentsign, lift, and turn it QR code forward", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Use the right arm to grab the paymentsign with blue and white text and point its QR code toward you.", + "Catch the paymentsign resting on angled base off the table and rotate its qrcode to you.", + "Use the right arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Lift the compact paymentsign for scanning payments with the right arm, then rotate it to make the qrcode visible.", + "Employ the right arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward", + "Lift the beige paymentsign and orient its QR code toward you with the right arm.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the paymentsign resting on angled base and rotate QR code towards you.", + "Catch the paymentsign showing QR code label using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.", + "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Lift the beige paymentsign from the table and rotate it towards you", + "Grab the beige paymentsign, lift it from the table, and rotate it QR front", + "Catch the small paymentsign for mobile payments with the right arm, then rotate it to make the QR code visible.", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Pick up the smooth beige paymentsign and adjust its position to face the qrcode towards you.", + "Grab the paymentsign with blue and white text using the right arm, then rotate the QR code to face forward.", + "Take the beige paymentsign with printed details, raise it, and make the qrcode face you.", + "Use the right arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Take the paymentsign resting on angled base, lift it, and orient it so the QR faces you", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Lift the paymentsign showing QR code label and rotate for its qrcode to face you.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the right arm.", + "Use the right arm to lift the beige paymentsign with printed details from the table and face the qrcode.", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Grab the beige paymentsign with printed details with the right arm, then rotate it to face yourself.", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Pick up the paymentsign with tilted rectangular panel and rotate it so the QR code faces you", + "Catch the paymentsign resting on angled base, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate the qrcode to face you.", + "Use the right arm to take the beige paymentsign with printed details and turn it until the QR code faces you", + "Lift the rectangular paymentsign with colorful top and rotate it until the QR code faces you.", + "Grab the compact paymentsign for scanning payments using the right arm, then rotate it until the qrcode faces you.", + "Grab the small paymentsign for mobile payments using the right arm, lift, and rotate until QR code faces you.", + "Lift the small paymentsign for mobile payments from the table, turning it QR code forward.", + "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.", + "Locate the paymentsign showing QR code label, pick it up, and adjust its angle.", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Lift the QR code paymentsign from the table and rotate it so the code faces you.", + "Using the right arm, catch the smooth beige paymentsign and rotate it to face the QR code.", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Lift the QR code paymentsign from the surface and adjust its angle towards you", + "Use the right arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the compact paymentsign for scanning payments, lift, and turn it QR code forward", + "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.", + "Use the right arm to grab the paymentsign showing QR code label and point its QR code toward you.", + "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.", + "Use the right arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Lift the small paymentsign for mobile payments with the right arm, then rotate it to make the qrcode visible.", + "Employ the right arm to seize the compact paymentsign for scanning payments, raise it, and rotate it QR-forward", + "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the right arm.", + "Pick the smooth beige paymentsign up, then rotate to make its qrcode visible.", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the small paymentsign for mobile payments and rotate QR code towards you.", + "Catch the beige paymentsign with printed details using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.", + "Catch and lift the paymentsign showing QR code label, then turn it to show the QR code.", + "Slide the paymentsign showing QR code label off the table and turn it to face you." + ], + "unseen": [ + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode40.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..db5d5712988c310f3a504817102afe8aff7d5882 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the beige paymentsign up and turn its QR code toward you using the right arm.", + "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you.", + "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign resting on angled base from the table and rotate it towards you", + "Grab the small paymentsign for mobile payments using the right arm, then rotate it until the qrcode faces you.", + "Slide the rectangular paymentsign with colorful top off the table and turn it to face you.", + "Lift the stand-up paymentsign with rectangular top from the table and turn it to face you.", + "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Lift the beige paymentsign with printed details and rotate it until the QR code faces you.", + "Use the right arm to lift the paymentsign showing QR code label and rotate it QR code toward you.", + "Take the paymentsign showing QR code label, lift it, and orient it so the QR faces you", + "Catch the QR code paymentsign, raise it, and turn it so the QR code faces you", + "Use the right arm to take the compact paymentsign for scanning payments and turn it until the QR code faces you", + "Use the right arm to grab the compact paymentsign for scanning payments, lift, and turn it QR code forward", + "Catch the compact paymentsign for scanning payments, lift it, and turn the qrcode towards you.", + "Lift the paymentsign showing QR code label with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign resting on angled base, lift, and rotate to align the qrcode to you.", + "Lift the rectangular paymentsign with colorful top and orient its QR code toward you with the right arm.", + "Pick the beige paymentsign with printed details up, then rotate to make its qrcode visible.", + "Lift the paymentsign showing QR code label from the surface and adjust its angle towards you", + "Use the right arm to grab the paymentsign with tilted rectangular panel and point its QR code toward you.", + "Find the stand-up paymentsign with rectangular top, grab it, and turn it towards yourself.", + "Grab the beige paymentsign with printed details, lift it from the table, and rotate it QR front", + "Using the right arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.", + "Grab the paymentsign with blue and white text using the right arm, then rotate the QR code to face forward.", + "Catch the compact paymentsign for scanning payments using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to pick the paymentsign showing QR code label and turn it towards you.", + "Take the paymentsign with tilted rectangular panel from the table, rotating it QR code toward you.", + "Locate the smooth beige paymentsign, pick it up, and adjust its angle.", + "Lift the beige paymentsign from the table, turning it QR code forward.", + "Pick up the beige paymentsign with printed details and adjust its position to face the qrcode towards you.", + "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.", + "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.", + "Lift the beige paymentsign and rotate until its qrcode faces you.", + "Grab the beige paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Use the right arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Catch the paymentsign with tilted rectangular panel with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward", + "Use the right arm to grab the paymentsign resting on angled base and rotate the qrcode to face you.", + "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign resting on angled base using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the paymentsign with tilted rectangular panel from the table and face the qrcode.", + "Lift the beige paymentsign from the table and rotate it so the code faces you.", + "Catch the beige paymentsign, lift it, and rotate it QR code facing.", + "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.", + "Employ the right arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward", + "Pick up the beige paymentsign with printed details and rotate it so the QR code faces you", + "Pick the small paymentsign for mobile payments up and turn its QR code toward you using the right arm.", + "Pick the paymentsign with blue and white text up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign showing QR code label, pick it up, and turn its qrcode toward you.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it towards you", + "Grab the beige paymentsign with printed details using the right arm, then rotate it until the qrcode faces you.", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Lift the paymentsign showing QR code label from the table and turn it to face you.", + "Take the QR code paymentsign, raise it, and make the qrcode face you.", + "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.", + "Lift the beige paymentsign with printed details and rotate it until the QR code faces you.", + "Use the right arm to lift the paymentsign showing QR code label and rotate it QR code toward you.", + "Take the stand-up paymentsign with rectangular top, lift it, and orient it so the QR faces you", + "Catch the paymentsign with tilted rectangular panel, raise it, and turn it so the QR code faces you", + "Use the right arm to take the small paymentsign for mobile payments and turn it until the QR code faces you", + "Use the right arm to grab the QR code paymentsign, lift, and turn it QR code forward", + "Catch the QR code paymentsign, lift it, and turn the qrcode towards you.", + "Lift the paymentsign with blue and white text with the right arm, then rotate it to make the qrcode visible.", + "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.", + "Lift the smooth beige paymentsign and orient its QR code toward you with the right arm.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Use the right arm to grab the beige paymentsign and point its QR code toward you.", + "Find the paymentsign resting on angled base, grab it, and turn it towards yourself.", + "Grab the rectangular paymentsign with colorful top, lift it from the table, and rotate it QR front", + "Using the right arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.", + "Catch the small paymentsign for mobile payments, lift it, and adjust its QR code to face you.", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate the QR code to face forward.", + "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to pick the smooth beige paymentsign and turn it towards you.", + "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.", + "Locate the small paymentsign for mobile payments, pick it up, and adjust its angle.", + "Lift the paymentsign showing QR code label from the table, turning it QR code forward.", + "Pick up the paymentsign with blue and white text and adjust its position to face the qrcode towards you.", + "Catch the paymentsign with tilted rectangular panel off the table and rotate its qrcode to you.", + "Lift the paymentsign showing QR code label and rotate for its qrcode to face you.", + "Lift the QR code paymentsign and rotate until its qrcode faces you.", + "Grab the rectangular paymentsign with colorful top with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Use the right arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Catch the small paymentsign for mobile payments with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the paymentsign showing QR code label and rotate it until the QR faces forward", + "Use the right arm to grab the beige paymentsign with printed details and rotate the qrcode to face you.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign resting on angled base using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the beige paymentsign from the table and face the qrcode.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to show the QR code.", + "Employ the right arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward", + "Pick up the beige paymentsign with printed details and rotate it so the QR code faces you" + ], + "unseen": [ + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode41.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..c067f81f4431fc6cb326a9cf98d274a6eabffeab --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Grab the QR code paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Grab the small paymentsign for mobile payments using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign resting on angled base, lift it, and turn the qrcode towards you.", + "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.", + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Lift the rectangular paymentsign with colorful top and rotate it until the QR code faces you.", + "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Take the small paymentsign for mobile payments from the table, rotating it QR code toward you.", + "Take the rectangular paymentsign with colorful top, lift it, and orient it so the QR faces you", + "Use the left arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Use the left arm to grab the paymentsign with blue and white text and rotate QR code towards you.", + "Lift the paymentsign resting on angled base and rotate until its qrcode faces you.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Pick up the beige paymentsign with printed details and adjust its position to face the qrcode towards you.", + "Catch and lift the beige paymentsign with printed details, then turn it to show the QR code.", + "Slide the rectangular paymentsign with colorful top off the table and turn it to face you.", + "Use the left arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Use the left arm to grab the smooth beige paymentsign, lift, and turn it QR code forward", + "Lift the smooth beige paymentsign from the table and rotate it so the code faces you.", + "Grab the paymentsign resting on angled base with the left arm, then rotate it to face yourself.", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.", + "Use the left arm to lift the small paymentsign for mobile payments from the table and face the qrcode.", + "Catch the paymentsign showing QR code label, pick it up, and rotate to view the qrcode.", + "Locate the small paymentsign for mobile payments, pick it up, and adjust its angle.", + "Grab the small paymentsign for mobile payments using the left arm, then rotate the QR code to face forward.", + "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.", + "Use the left arm to take the QR code paymentsign and turn it until the QR code faces you", + "Pick the stand-up paymentsign with rectangular top up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the paymentsign with blue and white text and point its QR code toward you.", + "Lift the small paymentsign for mobile payments with the left arm, then rotate it to make the qrcode visible.", + "Lift the rectangular paymentsign with colorful top from the table and turn it to face you.", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Lift the paymentsign with blue and white text from the table and rotate it towards you", + "Using the left arm, catch the beige paymentsign and rotate it to face the QR code.", + "Catch the smooth beige paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign showing QR code label, pick it up, and rotate to show the QR code.", + "Lift the beige paymentsign and rotate for its qrcode to face you.", + "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.", + "Catch the paymentsign with blue and white text with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to pick the stand-up paymentsign with rectangular top and turn it towards you.", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the left arm.", + "Catch the paymentsign with tilted rectangular panel, raise it, and turn it so the QR code faces you", + "Employ the left arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Lift the beige paymentsign from the surface and adjust its angle towards you", + "Use the left arm to grab the stand-up paymentsign with rectangular top, rotate, and face the QR code towards you.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Grab the stand-up paymentsign with rectangular top using the left arm, lift, and rotate until QR code faces you.", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Grab the compact paymentsign for scanning payments using the left arm, then rotate it until the qrcode faces you.", + "Catch the QR code paymentsign, lift it, and turn the qrcode towards you.", + "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.", + "Find the paymentsign with tilted rectangular panel, grab it, and turn it towards yourself.", + "Lift the QR code paymentsign and rotate it until the QR code faces you.", + "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the smooth beige paymentsign and rotate the qrcode to face you.", + "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.", + "Take the rectangular paymentsign with colorful top, lift it, and orient it so the QR faces you", + "Use the left arm to lift the rectangular paymentsign with colorful top and rotate it QR code toward you.", + "Use the left arm to grab the paymentsign resting on angled base and rotate QR code towards you.", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you.", + "Pick up the rectangular paymentsign with colorful top and adjust its position to face the qrcode towards you.", + "Catch and lift the beige paymentsign with printed details, then turn it to show the QR code.", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate it until the QR faces forward", + "Use the left arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward", + "Lift the beige paymentsign with printed details from the table and rotate it so the code faces you.", + "Grab the stand-up paymentsign with rectangular top with the left arm, then rotate it to face yourself.", + "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.", + "Take the QR code paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to lift the paymentsign resting on angled base from the table and face the qrcode.", + "Catch the paymentsign showing QR code label, pick it up, and rotate to view the qrcode.", + "Locate the compact paymentsign for scanning payments, pick it up, and adjust its angle.", + "Grab the paymentsign showing QR code label using the left arm, then rotate the QR code to face forward.", + "Catch the stand-up paymentsign with rectangular top, lift it, and rotate it QR code facing.", + "Use the left arm to take the beige paymentsign and turn it until the QR code faces you", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the stand-up paymentsign with rectangular top and point its QR code toward you.", + "Lift the beige paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Lift the smooth beige paymentsign from the table and turn it to face you.", + "Grab the compact paymentsign for scanning payments, lift it from the table, and rotate it QR front", + "Lift the paymentsign resting on angled base from the table and rotate it towards you", + "Using the left arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Catch the paymentsign with blue and white text using the left arm, pick it up, and turn it to face the QR code.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to show the QR code.", + "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.", + "Lift the small paymentsign for mobile payments from the table, turning it QR code forward.", + "Catch the compact paymentsign for scanning payments with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to pick the paymentsign showing QR code label and turn it towards you.", + "Lift the stand-up paymentsign with rectangular top and orient its QR code toward you with the left arm.", + "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you", + "Employ the left arm to seize the beige paymentsign with printed details, raise it, and rotate it QR-forward", + "Lift the stand-up paymentsign with rectangular top from the surface and adjust its angle towards you" + ], + "unseen": [ + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode42.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..e06de26214a1abc6a33e686ac48843037f4b6517 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the tabletop-sized payment sign, raise it, and make the qrcode face you.", + "Use the left arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Pick the payment sign with angled face up and turn its QR code toward you using the left arm.", + "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you", + "Catch the payment sign with angled face, lift, and rotate to align the qrcode to you.", + "Grab the gray top with QR code using the left arm, then rotate the QR code to face forward.", + "Catch the black base with tilted gray panel, pick it up, and rotate to show the QR code.", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Pick the slanted gray panel for QR code scan up, rotate it, and ensure the QR code faces you.", + "Lift the payment sign with angled face and rotate it until the QR code faces you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Use the left arm to lift the payment sign with angled face from the table and face the qrcode.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Use the left arm to grab the gray slanted panel with text and point its QR code toward you.", + "Use the left arm to grab the small payment stand with black base, lift, and turn it QR code forward", + "Employ the left arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Lift the paymentsign from the table and turn it to face you.", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Grab the gray slanted panel with text using the left arm, lift, and rotate until QR code faces you.", + "Slide the gray top with QR code off the table and turn it to face you.", + "Use the left arm to lift the paymentsign and rotate it QR code toward you.", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Lift the gray slanted panel with text from the table and rotate it so the code faces you.", + "Take the payment sign with green logo from the table, rotating it QR code toward you.", + "Grab the triangular stand with QR code with the left arm, then rotate it to face yourself.", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Find the small payment stand with black base, grab it, and turn it towards yourself.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Lift the black base with tilted gray panel and orient its QR code toward you with the left arm.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the slanted gray panel for QR code scan, rotate, and face the QR code towards you.", + "Lift the small payment stand with black base from the table, turning it QR code forward.", + "Use the left arm to pick the green payment logo on gray top and turn it towards you.", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to view the qrcode.", + "Catch and lift the gray top with QR code, then turn it to show the QR code.", + "Grab the green payment logo on gray top using the left arm, then rotate it until the qrcode faces you.", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Using the left arm, catch the gray top with QR code and rotate it to face the QR code.", + "Use the left arm to grab the small payment stand with black base and rotate QR code towards you.", + "Pick up the small payment stand with black base and rotate it so the QR code faces you", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Pick the payment sign with angled face up, then rotate to make its qrcode visible.", + "Lift the gray top with QR code with the left arm, then rotate it to make the qrcode visible.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Take the triangular stand with QR code, raise it, and make the qrcode face you.", + "Use the left arm to grab the gray top with QR code and rotate the qrcode to face you.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the left arm.", + "Catch the tabletop-sized payment sign, raise it, and turn it so the QR code faces you", + "Catch the gray top with QR code, lift, and rotate to align the qrcode to you.", + "Grab the payment sign with angled face using the left arm, then rotate the QR code to face forward.", + "Catch the gray top with QR code, pick it up, and rotate to show the QR code.", + "Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the gray slanted panel with text and rotate it until the QR code faces you.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Use the left arm to lift the tabletop-sized payment sign from the table and face the qrcode.", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the small payment stand with black base and point its QR code toward you.", + "Use the left arm to grab the payment sign with angled face, lift, and turn it QR code forward", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Lift the small payment stand with black base and rotate for its qrcode to face you.", + "Grab the payment sign with green logo using the left arm, lift, and rotate until QR code faces you.", + "Slide the gray top with QR code off the table and turn it to face you.", + "Use the left arm to lift the green payment logo on gray top and rotate it QR code toward you.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Take the slanted gray panel for QR code scan from the table, rotating it QR code toward you.", + "Grab the paymentsign with the left arm, then rotate it to face yourself.", + "Catch the gray slanted panel with text off the table and rotate its qrcode to you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Use the left arm to grab the small payment stand with black base and rotate it until the QR faces forward", + "Lift the triangular stand with QR code and orient its QR code toward you with the left arm.", + "Catch the triangular stand with QR code with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the triangular stand with QR code, rotate, and face the QR code towards you.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Use the left arm to pick the triangular stand with QR code and turn it towards you.", + "Catch the gray slanted panel with text, pick it up, and rotate to view the qrcode.", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Grab the green payment logo on gray top using the left arm, then rotate it until the qrcode faces you.", + "Catch the tabletop-sized payment sign using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the gray top with QR code and adjust its position to face the qrcode towards you.", + "Lift the tabletop-sized payment sign from the table and rotate it towards you", + "Grab the payment sign with green logo, lift it from the table, and rotate it QR front", + "Using the left arm, catch the triangular stand with QR code and rotate it to face the QR code.", + "Use the left arm to grab the small black stand for payments and rotate QR code towards you.", + "Pick up the green payment logo on gray top and rotate it so the QR code faces you", + "Grab the payment sign with green logo, pick it up, and turn its qrcode toward you.", + "Use the left arm to take the paymentsign and turn it until the QR code faces you", + "Catch the green payment logo on gray top, lift it, and adjust its QR code to face you.", + "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.", + "Pick the black base with tilted gray panel up, then rotate to make its qrcode visible.", + "Lift the gray slanted panel with text with the left arm, then rotate it to make the qrcode visible.", + "Lift the black base with tilted gray panel and rotate until its qrcode faces you." + ], + "unseen": [ + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode43.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..9cbbb2c465d35d81416b00181a397d8377961496 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the paymentsign with blue and white text and adjust its position to face the qrcode towards you.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you", + "Grab the paymentsign showing QR code label, lift it from the table, and rotate it QR front", + "Catch the QR code paymentsign with the left arm, then rotate it to make the QR code visible.", + "Lift the QR code paymentsign and rotate it until the QR code faces you.", + "Use the left arm to grab the smooth beige paymentsign and rotate the qrcode to face you.", + "Lift the paymentsign showing QR code label from the table and turn it to face you.", + "Use the left arm to grab the smooth beige paymentsign and rotate it until the QR faces forward", + "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.", + "Grab the smooth beige paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the small paymentsign for mobile payments off the table and rotate its qrcode to you.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the left arm.", + "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.", + "Pick the stand-up paymentsign with rectangular top up, then rotate to make its qrcode visible.", + "Lift the paymentsign showing QR code label and rotate for its qrcode to face you.", + "Use the left arm to lift the paymentsign with blue and white text from the table and face the qrcode.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Use the left arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.", + "Using the left arm, catch the small paymentsign for mobile payments and rotate it to face the QR code.", + "Find the beige paymentsign with printed details, grab it, and turn it towards yourself.", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the left arm.", + "Lift the compact paymentsign for scanning payments with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the paymentsign showing QR code label and point its QR code toward you.", + "Catch the paymentsign showing QR code label, pick it up, and rotate to show the QR code.", + "Lift the paymentsign resting on angled base from the table, turning it QR code forward.", + "Slide the small paymentsign for mobile payments off the table and turn it to face you.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate QR code towards you.", + "Catch the QR code paymentsign, lift it, and rotate it QR code facing.", + "Use the left arm to lift the paymentsign with blue and white text and rotate it QR code toward you.", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the smooth beige paymentsign from the table and rotate it so the code faces you.", + "Employ the left arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to take the paymentsign showing QR code label and turn it until the QR code faces you", + "Take the paymentsign with tilted rectangular panel, raise it, and make the qrcode face you.", + "Grab the paymentsign with tilted rectangular panel using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to pick the compact paymentsign for scanning payments and turn it towards you.", + "Grab the compact paymentsign for scanning payments using the left arm, lift, and rotate until QR code faces you.", + "Catch the beige paymentsign with printed details, raise it, and turn it so the QR code faces you", + "Pick up the rectangular paymentsign with colorful top and rotate it so the QR code faces you", + "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.", + "Catch the beige paymentsign with printed details using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the QR code paymentsign, lift, and turn it QR code forward", + "Grab the paymentsign resting on angled base using the left arm, then rotate the QR code to face forward.", + "Locate the paymentsign showing QR code label, pick it up, and adjust its angle.", + "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you", + "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you", + "Pick up the paymentsign with blue and white text and adjust its position to face the qrcode towards you.", + "Lift the small paymentsign for mobile payments from the table and rotate it towards you", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Catch the paymentsign resting on angled base with the left arm, then rotate it to make the QR code visible.", + "Lift the beige paymentsign with printed details and rotate it until the QR code faces you.", + "Use the left arm to grab the paymentsign resting on angled base and rotate the qrcode to face you.", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Use the left arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Catch the paymentsign showing QR code label, lift it, and turn the qrcode towards you.", + "Grab the paymentsign showing QR code label, pick it up, and turn its qrcode toward you.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Pick the beige paymentsign up and turn its QR code toward you using the left arm.", + "Lift the paymentsign with blue and white text and rotate until its qrcode faces you.", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Lift the smooth beige paymentsign and rotate for its qrcode to face you.", + "Use the left arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Catch and lift the stand-up paymentsign with rectangular top, then turn it to show the QR code.", + "Use the left arm to grab the paymentsign with blue and white text, rotate, and face the QR code towards you.", + "Catch the QR code paymentsign, lift it, and adjust its QR code to face you.", + "Catch the smooth beige paymentsign, pick it up, and rotate to view the qrcode.", + "Using the left arm, catch the stand-up paymentsign with rectangular top and rotate it to face the QR code.", + "Find the beige paymentsign, grab it, and turn it towards yourself.", + "Lift the small paymentsign for mobile payments and orient its QR code toward you with the left arm.", + "Lift the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the smooth beige paymentsign and point its QR code toward you.", + "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.", + "Lift the beige paymentsign with printed details from the table, turning it QR code forward.", + "Slide the compact paymentsign for scanning payments off the table and turn it to face you.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the small paymentsign for mobile payments and rotate QR code towards you.", + "Catch the rectangular paymentsign with colorful top, lift it, and rotate it QR code facing.", + "Use the left arm to lift the paymentsign with blue and white text and rotate it QR code toward you.", + "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.", + "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.", + "Lift the small paymentsign for mobile payments from the table and rotate it so the code faces you.", + "Employ the left arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward", + "Use the left arm to take the paymentsign with blue and white text and turn it until the QR code faces you", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Grab the paymentsign with tilted rectangular panel using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to pick the paymentsign resting on angled base and turn it towards you.", + "Grab the paymentsign resting on angled base using the left arm, lift, and rotate until QR code faces you.", + "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you", + "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you", + "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.", + "Catch the paymentsign showing QR code label using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Grab the compact paymentsign for scanning payments using the left arm, then rotate the QR code to face forward.", + "Locate the QR code paymentsign, pick it up, and adjust its angle.", + "Take the rectangular paymentsign with colorful top, lift it, and orient it so the QR faces you", + "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you" + ], + "unseen": [ + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode44.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..61c878096b18b623d8e3a8fdca3314c73bfc62df --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Employ the right arm to seize the paymentsign for scanning QR codes, raise it, and rotate it QR-forward", + "Catch the paymentsign with angled black stand using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the paymentsign with printed QR codes and rotate it until the QR faces forward", + "Catch the paymentsign with printed QR codes, lift it, and adjust its QR code to face you.", + "Lift the small paymentsign with stand with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to pick the paymentsign with angled black stand and turn it towards you.", + "Lift the paymentsign with angled black stand and rotate for its qrcode to face you.", + "Use the right arm to grab the rectangular plastic paymentsign with codes and rotate QR code towards you.", + "Pick the small paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Catch the tabletop paymentsign off the table and rotate its qrcode to you.", + "Lift the blue and white paymentsign from the table and turn it to face you.", + "Use the right arm to grab the smooth surface paymentsign and rotate the qrcode to face you.", + "Use the right arm to grab the small paymentsign with stand and point its QR code toward you.", + "Pick the small paymentsign with stand up, then rotate to make its qrcode visible.", + "Using the right arm, catch the smooth surface paymentsign and rotate it to face the QR code.", + "Use the right arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Lift the smooth surface paymentsign from the surface and adjust its angle towards you", + "Grab the small paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign with printed QR codes with the right arm, then rotate it to face yourself.", + "Grab the tabletop paymentsign using the right arm, then rotate the QR code to face forward.", + "Pick up the paymentsign with printed QR codes and adjust its position to face the qrcode towards you.", + "Take the paymentsign with angled black stand, lift it, and orient it so the QR faces you", + "Catch the paymentsign for scanning QR codes, raise it, and turn it so the QR code faces you", + "Take the small glossy paymentsign from the table, rotating it QR code toward you.", + "Use the right arm to lift the paymentsign with angled black stand from the table and face the qrcode.", + "Catch the rectangular plastic paymentsign with codes with the right arm, then rotate it to make the QR code visible.", + "Grab the rectangular plastic paymentsign with codes using the right arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with printed QR codes, pick it up, and rotate to show the QR code.", + "Grab the small paymentsign with stand, lift it from the table, and rotate it QR front", + "Lift the blue and white rectangular paymentsign and rotate it until the QR code faces you.", + "Lift the small paymentsign with stand from the table and rotate it towards you", + "Catch the smooth surface paymentsign, lift, and rotate to align the qrcode to you.", + "Catch and lift the small paymentsign with stand, then turn it to show the QR code.", + "Pick the blue and white paymentsign up and turn its QR code toward you using the right arm.", + "Pick up the tabletop paymentsign and rotate it so the QR code faces you", + "Lift the paymentsign with angled black stand from the table, turning it QR code forward.", + "Lift the rectangular plastic paymentsign and rotate until its qrcode faces you.", + "Locate the rectangular plastic paymentsign with codes, pick it up, and adjust its angle.", + "Find the tabletop paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to take the rectangular plastic paymentsign with codes and turn it until the QR code faces you", + "Take the paymentsign with angled black stand, raise it, and make the qrcode face you.", + "Use the right arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Catch the paymentsign for scanning QR codes, lift it, and rotate it QR code facing.", + "Slide the small glossy paymentsign off the table and turn it to face you.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to view the qrcode.", + "Catch the paymentsign for scanning QR codes, lift it, and turn the qrcode towards you.", + "Lift the blue and white rectangular paymentsign and orient its QR code toward you with the right arm.", + "Use the right arm to grab the paymentsign for scanning QR codes, rotate, and face the QR code towards you.", + "Lift the rectangular plastic paymentsign from the table and rotate it so the code faces you.", + "Grab the small paymentsign with stand, pick it up, and turn its qrcode toward you.", + "Employ the right arm to seize the paymentsign with printed QR codes, raise it, and rotate it QR-forward", + "Catch the small glossy paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Catch the blue and white paymentsign, lift it, and adjust its QR code to face you.", + "Lift the paymentsign with printed QR codes with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to pick the blue and white paymentsign and turn it towards you.", + "Lift the paymentsign with angled black stand and rotate for its qrcode to face you.", + "Use the right arm to grab the smooth surface paymentsign and rotate QR code towards you.", + "Pick the rectangular plastic paymentsign with codes up, rotate it, and ensure the QR code faces you.", + "Catch the paymentsign for scanning QR codes off the table and rotate its qrcode to you.", + "Lift the small glossy paymentsign from the table and turn it to face you.", + "Use the right arm to grab the rectangular plastic paymentsign and rotate the qrcode to face you.", + "Use the right arm to grab the rectangular plastic paymentsign and point its QR code toward you.", + "Pick the rectangular plastic paymentsign up, then rotate to make its qrcode visible.", + "Using the right arm, catch the tabletop paymentsign and rotate it to face the QR code.", + "Use the right arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Lift the paymentsign with glossy blue panel from the surface and adjust its angle towards you", + "Grab the small paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Grab the tabletop paymentsign with the right arm, then rotate it to face yourself.", + "Grab the rectangular plastic paymentsign with codes using the right arm, then rotate the QR code to face forward.", + "Pick up the paymentsign with angled black stand and adjust its position to face the qrcode towards you.", + "Take the paymentsign with angled black stand, lift it, and orient it so the QR faces you", + "Catch the paymentsign with angled black stand, raise it, and turn it so the QR code faces you", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Use the right arm to lift the tabletop paymentsign from the table and face the qrcode.", + "Catch the small glossy paymentsign with the right arm, then rotate it to make the QR code visible.", + "Grab the tabletop paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign for scanning QR codes, pick it up, and rotate to show the QR code.", + "Grab the rectangular plastic paymentsign with codes, lift it from the table, and rotate it QR front", + "Lift the blue and white paymentsign and rotate it until the QR code faces you.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Catch the paymentsign with glossy blue panel, lift, and rotate to align the qrcode to you.", + "Catch and lift the tabletop paymentsign, then turn it to show the QR code.", + "Pick the tabletop paymentsign up and turn its QR code toward you using the right arm.", + "Pick up the small glossy paymentsign and rotate it so the QR code faces you", + "Lift the rectangular plastic paymentsign from the table, turning it QR code forward.", + "Lift the small paymentsign with stand and rotate until its qrcode faces you.", + "Locate the paymentsign with angled black stand, pick it up, and adjust its angle.", + "Find the paymentsign with angled black stand, grab it, and turn it towards yourself.", + "Use the right arm to take the blue and white paymentsign and turn it until the QR code faces you", + "Take the small glossy paymentsign, raise it, and make the qrcode face you.", + "Use the right arm to lift the rectangular plastic paymentsign with codes and rotate it QR code toward you.", + "Catch the paymentsign for scanning QR codes, lift it, and rotate it QR code facing.", + "Slide the rectangular plastic paymentsign off the table and turn it to face you.", + "Catch the small paymentsign with stand, pick it up, and rotate to view the qrcode.", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Lift the rectangular plastic paymentsign and orient its QR code toward you with the right arm.", + "Use the right arm to grab the rectangular plastic paymentsign with codes, rotate, and face the QR code towards you.", + "Lift the blue and white paymentsign from the table and rotate it so the code faces you.", + "Grab the paymentsign with angled black stand, pick it up, and turn its qrcode toward you." + ], + "unseen": [ + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the QR code paymentsign from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode45.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..9b3b6717bed4238518f7d0e2e7ed95f61b68b099 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign showing QR code label, pick it up, and rotate to show the QR code.", + "Catch the QR code paymentsign, lift it, and rotate it QR code facing.", + "Catch the QR code paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you", + "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.", + "Use the right arm to grab the rectangular paymentsign with colorful top, lift, and turn it QR code forward", + "Using the right arm, catch the paymentsign showing QR code label and rotate it to face the QR code.", + "Catch and lift the compact paymentsign for scanning payments, then turn it to show the QR code.", + "Lift the smooth beige paymentsign and rotate it until the QR code faces you.", + "Use the right arm to pick the beige paymentsign and turn it towards you.", + "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you", + "Grab the beige paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the right arm.", + "Grab the beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the compact paymentsign for scanning payments, lift it, and adjust its QR code to face you.", + "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.", + "Use the right arm to grab the paymentsign resting on angled base and point its QR code toward you.", + "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you", + "Use the right arm to grab the compact paymentsign for scanning payments, rotate, and face the QR code towards you.", + "Find the paymentsign resting on angled base, grab it, and turn it towards yourself.", + "Pick the beige paymentsign with printed details up, then rotate to make its qrcode visible.", + "Locate the small paymentsign for mobile payments, pick it up, and adjust its angle.", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Lift the compact paymentsign for scanning payments from the table and rotate it so the code faces you.", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Use the right arm to take the beige paymentsign and turn it until the QR code faces you", + "Lift the small paymentsign for mobile payments and orient its QR code toward you with the right arm.", + "Lift the compact paymentsign for scanning payments from the table and turn it to face you.", + "Lift the paymentsign resting on angled base from the table, turning it QR code forward.", + "Use the right arm to grab the paymentsign with blue and white text and rotate QR code towards you.", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Use the right arm to grab the beige paymentsign with printed details and rotate it until the QR faces forward", + "Grab the paymentsign with blue and white text using the right arm, then rotate the QR code to face forward.", + "Employ the right arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Slide the beige paymentsign off the table and turn it to face you.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate the qrcode to face you.", + "Grab the QR code paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the beige paymentsign from the table and face the qrcode.", + "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Catch the beige paymentsign with the right arm, then rotate it to make the QR code visible.", + "Take the small paymentsign for mobile payments from the table, rotating it QR code toward you.", + "Take the small paymentsign for mobile payments, lift it, and orient it so the QR faces you", + "Take the paymentsign resting on angled base, raise it, and make the qrcode face you.", + "Lift the beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign with blue and white text using the right arm, pick it up, and turn it to face the QR code.", + "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to show the QR code.", + "Catch the QR code paymentsign, lift it, and rotate it QR code facing.", + "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to view the qrcode.", + "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you", + "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.", + "Use the right arm to grab the small paymentsign for mobile payments, lift, and turn it QR code forward", + "Using the right arm, catch the beige paymentsign with printed details and rotate it to face the QR code.", + "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Use the right arm to pick the stand-up paymentsign with rectangular top and turn it towards you.", + "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you", + "Grab the paymentsign showing QR code label using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to lift the small paymentsign for mobile payments and rotate it QR code toward you.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the right arm.", + "Grab the QR code paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the QR code paymentsign, lift it, and adjust its QR code to face you.", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.", + "Lift the beige paymentsign from the surface and adjust its angle towards you", + "Use the right arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.", + "Find the paymentsign with blue and white text, grab it, and turn it towards yourself.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Locate the compact paymentsign for scanning payments, pick it up, and adjust its angle.", + "Lift the QR code paymentsign from the table and rotate it towards you", + "Lift the small paymentsign for mobile payments from the table and rotate it so the code faces you.", + "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.", + "Use the right arm to take the smooth beige paymentsign and turn it until the QR code faces you", + "Lift the smooth beige paymentsign and orient its QR code toward you with the right arm.", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Lift the beige paymentsign with printed details from the table, turning it QR code forward.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate QR code towards you.", + "Lift the QR code paymentsign and rotate until its qrcode faces you.", + "Use the right arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate the QR code to face forward.", + "Employ the right arm to seize the paymentsign with blue and white text, raise it, and rotate it QR-forward", + "Grab the QR code paymentsign, lift it from the table, and rotate it QR front", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Use the right arm to grab the smooth beige paymentsign and rotate the qrcode to face you.", + "Grab the paymentsign with blue and white text with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Pick up the rectangular paymentsign with colorful top and adjust its position to face the qrcode towards you.", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Catch the smooth beige paymentsign with the right arm, then rotate it to make the QR code visible.", + "Take the paymentsign with blue and white text from the table, rotating it QR code toward you.", + "Take the beige paymentsign, lift it, and orient it so the QR faces you", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Lift the smooth beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign with blue and white text using the right arm, pick it up, and turn it to face the QR code." + ], + "unseen": [ + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode46.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..627bb5a2348531245ccfdd1d194f3f0191ccfc01 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the blue and white paymentsign, rotate, and face the QR code towards you.", + "Grab the paymentsign for scanning QR codes with the right arm, then rotate it to face yourself.", + "Take the tabletop paymentsign, raise it, and make the qrcode face you.", + "Grab the tabletop paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to pick the small paymentsign with stand and turn it towards you.", + "Find the paymentsign with angled black stand, grab it, and turn it towards yourself.", + "Lift the rectangular plastic paymentsign from the table and rotate it so the code faces you.", + "Grab the paymentsign with printed QR codes, pick it up, and turn its qrcode toward you.", + "Locate the blue and white paymentsign, pick it up, and adjust its angle.", + "Catch the blue and white rectangular paymentsign off the table and rotate its qrcode to you.", + "Pick up the paymentsign with printed QR codes and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the rectangular plastic paymentsign with codes and point its QR code toward you.", + "Use the right arm to take the smooth surface paymentsign and turn it until the QR code faces you", + "Lift the paymentsign with printed QR codes from the table, turning it QR code forward.", + "Lift the tabletop paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign for scanning QR codes, lift, and turn it QR code forward", + "Use the right arm to lift the paymentsign with angled black stand from the table and face the qrcode.", + "Catch the rectangular plastic paymentsign, lift it, and rotate it QR code facing.", + "Pick the paymentsign for scanning QR codes up and turn its QR code toward you using the right arm.", + "Catch the blue and white paymentsign, lift it, and turn the qrcode towards you.", + "Catch the rectangular plastic paymentsign, lift, and rotate to align the qrcode to you.", + "Take the rectangular plastic paymentsign with codes from the table, rotating it QR code toward you.", + "Use the right arm to grab the paymentsign with angled black stand and rotate it until the QR faces forward", + "Use the right arm to lift the blue and white paymentsign and rotate it QR code toward you.", + "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.", + "Grab the rectangular plastic paymentsign, lift it from the table, and rotate it QR front", + "Lift the smooth surface paymentsign and rotate it until the QR code faces you.", + "Take the smooth surface paymentsign, lift it, and orient it so the QR faces you", + "Catch the blue and white paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the blue and white rectangular paymentsign, lift it, and adjust its QR code to face you.", + "Catch the small paymentsign with stand, raise it, and turn it so the QR code faces you", + "Lift the small paymentsign with stand from the table and rotate it towards you", + "Grab the smooth surface paymentsign using the right arm, then rotate the QR code to face forward.", + "Slide the blue and white rectangular paymentsign off the table and turn it to face you.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to view the qrcode.", + "Grab the blue and white paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the tabletop paymentsign from the surface and adjust its angle towards you", + "Pick the blue and white rectangular paymentsign up, then rotate to make its qrcode visible.", + "Use the right arm to grab the rectangular plastic paymentsign with codes and rotate the qrcode to face you.", + "Use the right arm to grab the smooth surface paymentsign and rotate QR code towards you.", + "Pick the paymentsign with printed QR codes up, rotate it, and ensure the QR code faces you.", + "Catch the blue and white rectangular paymentsign with the right arm, then rotate it to make the QR code visible.", + "Employ the right arm to seize the rectangular plastic paymentsign, raise it, and rotate it QR-forward", + "Using the right arm, catch the paymentsign with angled black stand and rotate it to face the QR code.", + "Pick up the paymentsign for scanning QR codes and rotate it so the QR code faces you", + "Catch and lift the smooth surface paymentsign, then turn it to show the QR code.", + "Lift the blue and white paymentsign and orient its QR code toward you with the right arm.", + "Lift the paymentsign with glossy blue panel and rotate until its qrcode faces you.", + "Lift the paymentsign for scanning QR codes from the table and turn it to face you.", + "Lift the rectangular plastic paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the paymentsign for scanning QR codes, rotate, and face the QR code towards you.", + "Grab the paymentsign with printed QR codes with the right arm, then rotate it to face yourself.", + "Take the paymentsign with angled black stand, raise it, and make the qrcode face you.", + "Grab the paymentsign with glossy blue panel using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to pick the small paymentsign with stand and turn it towards you.", + "Find the blue and white paymentsign, grab it, and turn it towards yourself.", + "Lift the smooth surface paymentsign from the table and rotate it so the code faces you.", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Locate the small glossy paymentsign, pick it up, and adjust its angle.", + "Catch the small paymentsign with stand off the table and rotate its qrcode to you.", + "Pick up the blue and white rectangular paymentsign and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the small glossy paymentsign and point its QR code toward you.", + "Use the right arm to take the blue and white paymentsign and turn it until the QR code faces you", + "Lift the small paymentsign with stand from the table, turning it QR code forward.", + "Lift the tabletop paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign for scanning QR codes, lift, and turn it QR code forward", + "Use the right arm to lift the rectangular plastic paymentsign from the table and face the qrcode.", + "Catch the smooth surface paymentsign, lift it, and rotate it QR code facing.", + "Pick the smooth surface paymentsign up and turn its QR code toward you using the right arm.", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Catch the smooth surface paymentsign, lift, and rotate to align the qrcode to you.", + "Take the rectangular plastic paymentsign from the table, rotating it QR code toward you.", + "Use the right arm to grab the blue and white rectangular paymentsign and rotate it until the QR faces forward", + "Use the right arm to lift the paymentsign with angled black stand and rotate it QR code toward you.", + "Catch the paymentsign with printed QR codes, pick it up, and rotate to show the QR code.", + "Grab the paymentsign with angled black stand, lift it from the table, and rotate it QR front", + "Lift the tabletop paymentsign and rotate it until the QR code faces you.", + "Take the small paymentsign with stand, lift it, and orient it so the QR faces you", + "Catch the small paymentsign with stand using the right arm, pick it up, and turn it to face the QR code.", + "Catch the blue and white paymentsign, lift it, and adjust its QR code to face you.", + "Catch the paymentsign with angled black stand, raise it, and turn it so the QR code faces you", + "Lift the smooth surface paymentsign from the table and rotate it towards you", + "Grab the paymentsign for scanning QR codes using the right arm, then rotate the QR code to face forward.", + "Slide the rectangular plastic paymentsign off the table and turn it to face you.", + "Catch the tabletop paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the small glossy paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the rectangular plastic paymentsign with codes from the surface and adjust its angle towards you", + "Pick the paymentsign with printed QR codes up, then rotate to make its qrcode visible.", + "Use the right arm to grab the blue and white paymentsign and rotate the qrcode to face you.", + "Use the right arm to grab the paymentsign with glossy blue panel and rotate QR code towards you.", + "Pick the rectangular plastic paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the blue and white paymentsign with the right arm, then rotate it to make the QR code visible.", + "Employ the right arm to seize the small paymentsign with stand, raise it, and rotate it QR-forward", + "Using the right arm, catch the smooth surface paymentsign and rotate it to face the QR code.", + "Pick up the small glossy paymentsign and rotate it so the QR code faces you", + "Catch and lift the tabletop paymentsign, then turn it to show the QR code.", + "Lift the blue and white paymentsign and orient its QR code toward you with the right arm.", + "Lift the rectangular plastic paymentsign and rotate until its qrcode faces you.", + "Lift the small glossy paymentsign from the table and turn it to face you.", + "Lift the blue and white paymentsign and rotate for its qrcode to face you." + ], + "unseen": [ + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode47.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..64766053e43044b3c9aab90831edbf651ebdbdb0 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the white paymentsign with raised base, lift, and turn it QR code forward", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Use the right arm to grab the white stand sign and point its QR code toward you.", + "Use the right arm to grab the plastic smooth paymentsign, rotate, and face the QR code towards you.", + "Grab the sign with yellow payment section, pick it up, and turn its qrcode toward you.", + "Employ the right arm to seize the plastic smooth paymentsign, raise it, and rotate it QR-forward", + "Use the right arm to grab the rectangular paymentsign with stand and rotate QR code towards you.", + "Use the right arm to pick the yellow and white payment display and turn it towards you.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Use the right arm to grab the paymentsign and rotate it until the QR faces forward", + "Locate the plastic smooth paymentsign, pick it up, and adjust its angle.", + "Pick up the smooth plastic paymentsign with QR code and adjust its position to face the qrcode towards you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Using the right arm, catch the rectangular paymentsign with stand and rotate it to face the QR code.", + "Catch the smooth plastic paymentsign with QR code using the right arm, pick it up, and turn it to face the QR code.", + "Catch the sign with yellow payment section, lift, and rotate to align the qrcode to you.", + "Grab the sign with yellow payment section, lift it from the table, and rotate it QR front", + "Lift the white stand sign from the table and turn it to face you.", + "Lift the smooth plastic paymentsign with QR code and orient its QR code toward you with the right arm.", + "Take the rectangular paymentsign with stand, lift it, and orient it so the QR faces you", + "Catch the yellow and white payment display, pick it up, and rotate to view the qrcode.", + "Use the right arm to take the white rectangular paymentsign with yellow details and turn it until the QR code faces you", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Use the right arm to lift the plastic smooth paymentsign from the table and face the qrcode.", + "Lift the plastic smooth paymentsign and rotate until its qrcode faces you.", + "Pick the yellow and white payment display up and turn its QR code toward you using the right arm.", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Lift the tabletop paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the plastic smooth paymentsign and rotate the qrcode to face you.", + "Grab the sign with yellow payment section using the right arm, then rotate the QR code to face forward.", + "Lift the yellow and white payment display from the table and rotate it so the code faces you.", + "Pick up the plastic smooth paymentsign and rotate it so the QR code faces you", + "Grab the paymentsign with the right arm, then rotate it to face yourself.", + "Lift the yellow panel white paymentsign from the table and rotate it towards you", + "Catch the yellow and white payment display with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to lift the paymentsign with QR code area and rotate it QR code toward you.", + "Catch the white paymentsign with raised base, lift it, and adjust its QR code to face you.", + "Take the plastic smooth paymentsign, raise it, and make the qrcode face you.", + "Find the sign with yellow payment section, grab it, and turn it towards yourself.", + "Catch and lift the yellow and white payment display, then turn it to show the QR code.", + "Take the paymentsign with QR code area from the table, rotating it QR code toward you.", + "Slide the white rectangular paymentsign with yellow details off the table and turn it to face you.", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Grab the white paymentsign with raised base using the right arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Pick the yellow panel white paymentsign up, then rotate to make its qrcode visible.", + "Pick the tabletop paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the rectangular paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Catch the yellow and white payment display, lift it, and rotate it QR code facing.", + "Use the right arm to grab the sign with yellow payment section, lift, and turn it QR code forward", + "Lift the smooth plastic paymentsign with QR code and rotate for its qrcode to face you.", + "Use the right arm to grab the paymentsign and point its QR code toward you.", + "Use the right arm to grab the white paymentsign with raised base, rotate, and face the QR code towards you.", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Employ the right arm to seize the plastic smooth paymentsign, raise it, and rotate it QR-forward", + "Use the right arm to grab the tabletop paymentsign and rotate QR code towards you.", + "Use the right arm to pick the smooth plastic paymentsign with QR code and turn it towards you.", + "Lift the sign with yellow payment section from the table, turning it QR code forward.", + "Use the right arm to grab the sign with yellow payment section and rotate it until the QR faces forward", + "Locate the white paymentsign with raised base, pick it up, and adjust its angle.", + "Pick up the rectangular paymentsign with stand and adjust its position to face the qrcode towards you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to show the QR code.", + "Using the right arm, catch the white stand sign and rotate it to face the QR code.", + "Catch the plastic smooth paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the rectangular paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Lift the yellow and white payment display from the table and turn it to face you.", + "Lift the sign with yellow payment section and orient its QR code toward you with the right arm.", + "Take the plastic smooth paymentsign, lift it, and orient it so the QR faces you", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Use the right arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Catch the plastic smooth paymentsign, lift it, and turn the qrcode towards you.", + "Use the right arm to lift the yellow panel white paymentsign from the table and face the qrcode.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Pick the sign with yellow payment section up and turn its QR code toward you using the right arm.", + "Catch the rectangular paymentsign with stand off the table and rotate its qrcode to you.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Lift the tabletop paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the yellow panel white paymentsign and rotate the qrcode to face you.", + "Grab the white paymentsign with raised base using the right arm, then rotate the QR code to face forward.", + "Lift the white stand sign from the table and rotate it so the code faces you.", + "Pick up the paymentsign and rotate it so the QR code faces you", + "Grab the tabletop paymentsign with the right arm, then rotate it to face yourself.", + "Lift the white stand sign from the table and rotate it towards you", + "Catch the rectangular paymentsign with stand with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to lift the paymentsign and rotate it QR code toward you.", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Take the white rectangular paymentsign with yellow details, raise it, and make the qrcode face you.", + "Find the tabletop paymentsign, grab it, and turn it towards yourself.", + "Catch and lift the white paymentsign with raised base, then turn it to show the QR code.", + "Take the paymentsign with QR code area from the table, rotating it QR code toward you.", + "Slide the yellow and white payment display off the table and turn it to face you.", + "Lift the white paymentsign with raised base and rotate it until the QR code faces you.", + "Grab the plastic smooth paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you", + "Pick the white rectangular paymentsign with yellow details up, then rotate to make its qrcode visible.", + "Pick the white rectangular paymentsign with yellow details up, rotate it, and ensure the QR code faces you.", + "Grab the plastic smooth paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Catch the white stand sign, lift it, and rotate it QR code facing." + ], + "unseen": [ + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode48.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..14c15ea747b518c9f32e75ee9e26769d7bd7b5f3 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the paymentsign with blue and white text from the table, turning it QR code forward.", + "Grab the QR code paymentsign, lift it from the table, and rotate it QR front", + "Use the left arm to pick the paymentsign with blue and white text and turn it towards you.", + "Use the left arm to grab the paymentsign with blue and white text, rotate, and face the QR code towards you.", + "Catch the small paymentsign for mobile payments using the left arm, pick it up, and turn it to face the QR code.", + "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the left arm.", + "Use the left arm to lift the beige paymentsign with printed details and rotate it QR code toward you.", + "Catch the beige paymentsign with printed details with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to take the smooth beige paymentsign and turn it until the QR code faces you", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the beige paymentsign from the table and rotate it so the code faces you.", + "Lift the paymentsign showing QR code label from the table and rotate it towards you", + "Slide the beige paymentsign off the table and turn it to face you.", + "Use the left arm to grab the small paymentsign for mobile payments, lift, and turn it QR code forward", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Catch the compact paymentsign for scanning payments, lift it, and turn the qrcode towards you.", + "Locate the paymentsign with tilted rectangular panel, pick it up, and adjust its angle.", + "Grab the stand-up paymentsign with rectangular top with the left arm, then rotate it to face yourself.", + "Find the beige paymentsign, grab it, and turn it towards yourself.", + "Catch and lift the QR code paymentsign, then turn it to show the QR code.", + "Catch the beige paymentsign with printed details, raise it, and turn it so the QR code faces you", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Catch the QR code paymentsign, lift it, and adjust its QR code to face you.", + "Pick the compact paymentsign for scanning payments up, then rotate to make its qrcode visible.", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you", + "Lift the stand-up paymentsign with rectangular top and rotate for its qrcode to face you.", + "Pick up the beige paymentsign with printed details and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the small paymentsign for mobile payments and rotate the qrcode to face you.", + "Grab the QR code paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Take the beige paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the QR code paymentsign and point its QR code toward you.", + "Pick the smooth beige paymentsign up and turn its QR code toward you using the left arm.", + "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.", + "Lift the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward", + "Lift the paymentsign resting on angled base and rotate until its qrcode faces you.", + "Grab the small paymentsign for mobile payments using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the paymentsign with blue and white text from the table and face the qrcode.", + "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Take the beige paymentsign, raise it, and make the qrcode face you.", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to view the qrcode.", + "Grab the beige paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Using the left arm, catch the paymentsign with blue and white text and rotate it to face the QR code.", + "Employ the left arm to seize the compact paymentsign for scanning payments, raise it, and rotate it QR-forward", + "Lift the paymentsign with blue and white text from the table, turning it QR code forward.", + "Grab the smooth beige paymentsign, lift it from the table, and rotate it QR front", + "Use the left arm to pick the rectangular paymentsign with colorful top and turn it towards you.", + "Use the left arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.", + "Catch the paymentsign with tilted rectangular panel using the left arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the left arm.", + "Use the left arm to lift the paymentsign with blue and white text and rotate it QR code toward you.", + "Catch the beige paymentsign with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to take the smooth beige paymentsign and turn it until the QR code faces you", + "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you", + "Catch the paymentsign with blue and white text, lift, and rotate to align the qrcode to you.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it so the code faces you.", + "Lift the compact paymentsign for scanning payments from the table and rotate it towards you", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Use the left arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward", + "Catch the rectangular paymentsign with colorful top, lift it, and rotate it QR code facing.", + "Catch the beige paymentsign, lift it, and turn the qrcode towards you.", + "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.", + "Grab the compact paymentsign for scanning payments with the left arm, then rotate it to face yourself.", + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.", + "Catch the beige paymentsign with printed details, raise it, and turn it so the QR code faces you", + "Lift the paymentsign showing QR code label from the table and turn it to face you.", + "Catch the compact paymentsign for scanning payments, lift it, and adjust its QR code to face you.", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Grab the compact paymentsign for scanning payments, pick it up, and turn its qrcode toward you.", + "Pick the stand-up paymentsign with rectangular top up, rotate it, and ensure the QR code faces you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Lift the beige paymentsign and rotate for its qrcode to face you.", + "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Grab the beige paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Take the paymentsign with tilted rectangular panel, lift it, and orient it so the QR faces you", + "Use the left arm to grab the paymentsign showing QR code label and point its QR code toward you.", + "Pick the QR code paymentsign up and turn its QR code toward you using the left arm.", + "Take the paymentsign showing QR code label from the table, rotating it QR code toward you.", + "Lift the smooth beige paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the smooth beige paymentsign and rotate it until the QR faces forward", + "Lift the rectangular paymentsign with colorful top and rotate until its qrcode faces you.", + "Grab the rectangular paymentsign with colorful top using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the beige paymentsign with printed details from the table and face the qrcode.", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to show the QR code.", + "Catch the paymentsign resting on angled base off the table and rotate its qrcode to you.", + "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to view the qrcode.", + "Grab the QR code paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the beige paymentsign with printed details and rotate QR code towards you.", + "Lift the QR code paymentsign and rotate it until the QR code faces you.", + "Using the left arm, catch the smooth beige paymentsign and rotate it to face the QR code.", + "Employ the left arm to seize the paymentsign with blue and white text, raise it, and rotate it QR-forward" + ], + "unseen": [ + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode49.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..e82fa9f7ea2dfb2f5664baa0f939226c6e31c273 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the gray slanted panel with text and rotate it so the QR code faces you", + "Lift the triangular stand with QR code from the table, turning it QR code forward.", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Use the right arm to lift the payment sign with green logo from the table and face the qrcode.", + "Lift the gray top with QR code with the right arm, then rotate it to make the qrcode visible.", + "Lift the triangular stand with QR code from the table and rotate it towards you", + "Take the slanted gray panel for QR code scan from the table, rotating it QR code toward you.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Pick the gray slanted panel with text up, then rotate to make its qrcode visible.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Grab the slanted gray panel for QR code scan, lift it from the table, and rotate it QR front", + "Lift the tabletop-sized payment sign and orient its QR code toward you with the right arm.", + "Use the right arm to grab the small black stand for payments and point its QR code toward you.", + "Use the right arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Employ the right arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the black base with tilted gray panel and rotate QR code towards you.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Catch the black base with tilted gray panel using the right arm, pick it up, and turn it to face the QR code.", + "Grab the gray slanted panel with text using the right arm, lift, and rotate until QR code faces you.", + "Lift the black base with tilted gray panel from the surface and adjust its angle towards you", + "Find the small payment stand with black base, grab it, and turn it towards yourself.", + "Use the right arm to take the small payment stand with black base and turn it until the QR code faces you", + "Pick the small black stand for payments up and turn its QR code toward you using the right arm.", + "Lift the gray slanted panel with text and rotate for its qrcode to face you.", + "Catch the triangular stand with QR code with the right arm, then rotate it to make the QR code visible.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Grab the small payment stand with black base with the right arm, then rotate it to face yourself.", + "Take the gray top with QR code, lift it, and orient it so the QR faces you", + "Slide the slanted gray panel for QR code scan off the table and turn it to face you.", + "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Use the right arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Use the right arm to grab the gray slanted panel with text, lift, and turn it QR code forward", + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Use the right arm to grab the gray top with QR code and rotate the qrcode to face you.", + "Pick up the black base with tilted gray panel and adjust its position to face the qrcode towards you.", + "Using the right arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Grab the gray top with QR code using the right arm, then rotate it until the qrcode faces you.", + "Catch the tabletop-sized payment sign off the table and rotate its qrcode to you.", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Catch the gray slanted panel with text, lift it, and adjust its QR code to face you.", + "Lift the gray slanted panel with text and rotate until its qrcode faces you.", + "Use the right arm to grab the payment sign with angled face and rotate it until the QR faces forward", + "Grab the paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to pick the slanted gray panel for QR code scan and turn it towards you.", + "Catch the green payment logo on gray top, pick it up, and rotate to view the qrcode.", + "Pick up the small black stand for payments and rotate it so the QR code faces you", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Lift the small black stand for payments from the table and turn it to face you.", + "Use the right arm to lift the tabletop-sized payment sign from the table and face the qrcode.", + "Lift the triangular stand with QR code with the right arm, then rotate it to make the qrcode visible.", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Pick the black base with tilted gray panel up, then rotate to make its qrcode visible.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Grab the green payment logo on gray top, lift it from the table, and rotate it QR front", + "Lift the payment sign with green logo and orient its QR code toward you with the right arm.", + "Use the right arm to grab the triangular stand with QR code and point its QR code toward you.", + "Use the right arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Employ the right arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Pick the black base with tilted gray panel up, rotate it, and ensure the QR code faces you.", + "Catch the slanted gray panel for QR code scan, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the tabletop-sized payment sign and rotate QR code towards you.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Catch the green payment logo on gray top using the right arm, pick it up, and turn it to face the QR code.", + "Grab the slanted gray panel for QR code scan using the right arm, lift, and rotate until QR code faces you.", + "Lift the gray top with QR code from the surface and adjust its angle towards you", + "Find the triangular stand with QR code, grab it, and turn it towards yourself.", + "Use the right arm to take the gray top with QR code and turn it until the QR code faces you", + "Pick the gray slanted panel with text up and turn its QR code toward you using the right arm.", + "Lift the tabletop-sized payment sign and rotate for its qrcode to face you.", + "Catch the payment sign with angled face with the right arm, then rotate it to make the QR code visible.", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Grab the triangular stand with QR code with the right arm, then rotate it to face yourself.", + "Take the small payment stand with black base, lift it, and orient it so the QR faces you", + "Slide the small payment stand with black base off the table and turn it to face you.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Lift the slanted gray panel for QR code scan and rotate it until the QR code faces you.", + "Catch the slanted gray panel for QR code scan, raise it, and turn it so the QR code faces you", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Use the right arm to lift the tabletop-sized payment sign and rotate it QR code toward you.", + "Use the right arm to grab the small black stand for payments, lift, and turn it QR code forward", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Use the right arm to grab the gray top with QR code and rotate the qrcode to face you.", + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Using the right arm, catch the paymentsign and rotate it to face the QR code.", + "Grab the triangular stand with QR code using the right arm, then rotate it until the qrcode faces you.", + "Catch the small payment stand with black base off the table and rotate its qrcode to you.", + "Take the tabletop-sized payment sign, raise it, and make the qrcode face you.", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Lift the payment sign with angled face and rotate until its qrcode faces you.", + "Use the right arm to grab the black base with tilted gray panel and rotate it until the QR faces forward", + "Grab the black base with tilted gray panel using the right arm, then rotate the QR code to face forward.", + "Use the right arm to pick the payment sign with green logo and turn it towards you.", + "Catch the gray slanted panel with text, pick it up, and rotate to view the qrcode." + ], + "unseen": [ + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode5.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..3ecf96ce715605d704ce626c7b82496b6bf992c0 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray slanted panel with text from the table and rotate it towards you", + "Catch the small payment stand with black base, lift, and rotate to align the qrcode to you.", + "Grab the payment sign with green logo with the left arm, then rotate it to face yourself.", + "Lift the payment sign with green logo and rotate it until the QR code faces you.", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Use the left arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Catch the gray top with QR code, lift it, and turn the qrcode towards you.", + "Grab the slanted gray panel for QR code scan using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to take the small black stand for payments and turn it until the QR code faces you", + "Use the left arm to lift the payment sign with angled face from the table and face the qrcode.", + "Use the left arm to grab the payment sign with angled face, rotate, and face the QR code towards you.", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Use the left arm to grab the gray top with QR code, lift, and turn it QR code forward", + "Catch and lift the green payment logo on gray top, then turn it to show the QR code.", + "Pick up the tabletop-sized payment sign and rotate it so the QR code faces you", + "Grab the payment sign with green logo, lift it from the table, and rotate it QR front", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Use the left arm to grab the payment sign with green logo and rotate QR code towards you.", + "Lift the green payment logo on gray top from the table, turning it QR code forward.", + "Use the left arm to lift the green payment logo on gray top and rotate it QR code toward you.", + "Catch the slanted gray panel for QR code scan using the left arm, pick it up, and turn it to face the QR code.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Employ the left arm to seize the triangular stand with QR code, raise it, and rotate it QR-forward", + "Catch the payment sign with green logo, lift it, and rotate it QR code facing.", + "Catch the gray slanted panel with text, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the triangular stand with QR code and point its QR code toward you.", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Catch the gray slanted panel with text with the left arm, then rotate it to make the QR code visible.", + "Pick the paymentsign up and turn its QR code toward you using the left arm.", + "Lift the slanted gray panel for QR code scan with the left arm, then rotate it to make the qrcode visible.", + "Find the slanted gray panel for QR code scan, grab it, and turn it towards yourself.", + "Catch the small payment stand with black base, pick it up, and rotate to view the qrcode.", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you.", + "Lift the small payment stand with black base and orient its QR code toward you with the left arm.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Using the left arm, catch the paymentsign and rotate it to face the QR code.", + "Use the left arm to pick the gray top with QR code and turn it towards you.", + "Use the left arm to grab the green payment logo on gray top and rotate it until the QR faces forward", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.", + "Pick the green payment logo on gray top up, rotate it, and ensure the QR code faces you.", + "Catch the triangular stand with QR code, lift it, and adjust its QR code to face you.", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Grab the payment sign with angled face using the left arm, then rotate the QR code to face forward.", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Catch the small black stand for payments, lift, and rotate to align the qrcode to you.", + "Grab the payment sign with angled face with the left arm, then rotate it to face yourself.", + "Lift the payment sign with angled face and rotate it until the QR code faces you.", + "Pick the gray slanted panel with text up, then rotate to make its qrcode visible.", + "Catch the gray top with QR code off the table and rotate its qrcode to you.", + "Use the left arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Grab the small black stand for payments using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to take the gray top with QR code and turn it until the QR code faces you", + "Use the left arm to lift the black base with tilted gray panel from the table and face the qrcode.", + "Use the left arm to grab the payment sign with green logo, rotate, and face the QR code towards you.", + "Slide the small black stand for payments off the table and turn it to face you.", + "Use the left arm to grab the gray slanted panel with text, lift, and turn it QR code forward", + "Catch and lift the green payment logo on gray top, then turn it to show the QR code.", + "Pick up the triangular stand with QR code and rotate it so the QR code faces you", + "Grab the slanted gray panel for QR code scan, lift it from the table, and rotate it QR front", + "Take the black base with tilted gray panel, raise it, and make the qrcode face you.", + "Use the left arm to grab the gray top with QR code and rotate QR code towards you.", + "Lift the small black stand for payments from the table, turning it QR code forward.", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Catch the green payment logo on gray top using the left arm, pick it up, and turn it to face the QR code.", + "Take the payment sign with green logo from the table, rotating it QR code toward you.", + "Lift the payment sign with green logo from the surface and adjust its angle towards you", + "Grab the small payment stand with black base using the left arm, lift, and rotate until QR code faces you.", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Catch the gray slanted panel with text, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the tabletop-sized payment sign and point its QR code toward you.", + "Grab the triangular stand with QR code, pick it up, and turn its qrcode toward you.", + "Catch the triangular stand with QR code with the left arm, then rotate it to make the QR code visible.", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the left arm.", + "Lift the payment sign with green logo with the left arm, then rotate it to make the qrcode visible.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the triangular stand with QR code from the table and rotate it so the code faces you.", + "Lift the green payment logo on gray top and orient its QR code toward you with the left arm.", + "Take the black base with tilted gray panel, lift it, and orient it so the QR faces you", + "Lift the green payment logo on gray top and rotate for its qrcode to face you.", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Using the left arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Use the left arm to pick the gray top with QR code and turn it towards you.", + "Use the left arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Lift the green payment logo on gray top from the table and turn it to face you.", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the payment sign with angled face, lift it, and adjust its QR code to face you.", + "Catch the gray slanted panel with text, pick it up, and rotate to show the QR code.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Grab the payment sign with angled face using the left arm, then rotate the QR code to face forward." + ], + "unseen": [ + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode6.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..023c7bebc5e3aa83993215633f2dd431d7e259e8 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the green payment logo on gray top using the left arm, then rotate it until the qrcode faces you.", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Catch the slanted gray panel for QR code scan off the table and rotate its qrcode to you.", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Grab the green payment logo on gray top with the left arm, then rotate it to face yourself.", + "Pick the green payment logo on gray top up, rotate it, and ensure the QR code faces you.", + "Pick the payment sign with green logo up and turn its QR code toward you using the left arm.", + "Use the left arm to lift the triangular stand with QR code from the table and face the qrcode.", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to pick the green payment logo on gray top and turn it towards you.", + "Use the left arm to grab the gray top with QR code and rotate it until the QR faces forward", + "Use the left arm to lift the paymentsign and rotate it QR code toward you.", + "Employ the left arm to seize the triangular stand with QR code, raise it, and rotate it QR-forward", + "Grab the payment sign with angled face using the left arm, then rotate the QR code to face forward.", + "Catch the small payment stand with black base, lift it, and rotate it QR code facing.", + "Catch the small black stand for payments, lift, and rotate to align the qrcode to you.", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Take the black base with tilted gray panel, raise it, and make the qrcode face you.", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Lift the tabletop-sized payment sign and orient its QR code toward you with the left arm.", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the small black stand for payments and point its QR code toward you.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Lift the black base with tilted gray panel with the left arm, then rotate it to make the qrcode visible.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Slide the gray slanted panel with text off the table and turn it to face you.", + "Pick up the payment sign with angled face and rotate it so the QR code faces you", + "Catch the payment sign with angled face with the left arm, then rotate it to make the QR code visible.", + "Catch the gray slanted panel with text using the left arm, pick it up, and turn it to face the QR code.", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the payment sign with angled face and rotate QR code towards you.", + "Use the left arm to grab the gray top with QR code, rotate, and face the QR code towards you.", + "Take the triangular stand with QR code from the table, rotating it QR code toward you.", + "Lift the black base with tilted gray panel and rotate for its qrcode to face you.", + "Using the left arm, catch the payment sign with green logo and rotate it to face the QR code.", + "Lift the gray slanted panel with text from the table, turning it QR code forward.", + "Lift the payment sign with angled face and rotate until its qrcode faces you.", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Catch the tabletop-sized payment sign, raise it, and turn it so the QR code faces you", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the triangular stand with QR code and rotate the qrcode to face you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Grab the small black stand for payments, pick it up, and turn its qrcode toward you.", + "Lift the small payment stand with black base and rotate it until the QR code faces you.", + "Use the left arm to grab the payment sign with angled face, lift, and turn it QR code forward", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Lift the payment sign with green logo from the surface and adjust its angle towards you", + "Use the left arm to take the gray top with QR code and turn it until the QR code faces you", + "Catch the gray top with QR code, lift it, and adjust its QR code to face you.", + "Grab the payment sign with angled face using the left arm, then rotate it until the qrcode faces you.", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Catch the gray slanted panel with text off the table and rotate its qrcode to you.", + "Lift the tabletop-sized payment sign from the table and rotate it so the code faces you.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Grab the slanted gray panel for QR code scan with the left arm, then rotate it to face yourself.", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Pick the slanted gray panel for QR code scan up and turn its QR code toward you using the left arm.", + "Use the left arm to lift the payment sign with angled face from the table and face the qrcode.", + "Grab the gray top with QR code using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to pick the gray top with QR code and turn it towards you.", + "Use the left arm to grab the small payment stand with black base and rotate it until the QR faces forward", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Employ the left arm to seize the slanted gray panel for QR code scan, raise it, and rotate it QR-forward", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.", + "Catch the slanted gray panel for QR code scan, lift, and rotate to align the qrcode to you.", + "Pick the payment sign with green logo up, then rotate to make its qrcode visible.", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Lift the black base with tilted gray panel from the table and rotate it towards you", + "Lift the tabletop-sized payment sign and orient its QR code toward you with the left arm.", + "Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the small payment stand with black base and point its QR code toward you.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Lift the small black stand for payments with the left arm, then rotate it to make the qrcode visible.", + "Catch and lift the gray slanted panel with text, then turn it to show the QR code.", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Pick up the gray slanted panel with text and rotate it so the QR code faces you", + "Catch the small payment stand with black base with the left arm, then rotate it to make the QR code visible.", + "Catch the small payment stand with black base using the left arm, pick it up, and turn it to face the QR code.", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the gray slanted panel with text and rotate QR code towards you.", + "Use the left arm to grab the small black stand for payments, rotate, and face the QR code towards you.", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Lift the black base with tilted gray panel and rotate for its qrcode to face you.", + "Using the left arm, catch the triangular stand with QR code and rotate it to face the QR code.", + "Lift the small payment stand with black base from the table, turning it QR code forward.", + "Lift the small black stand for payments and rotate until its qrcode faces you.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Find the small black stand for payments, grab it, and turn it towards yourself.", + "Grab the green payment logo on gray top, pick it up, and turn its qrcode toward you.", + "Lift the small black stand for payments and rotate it until the QR code faces you.", + "Use the left arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Pick up the green payment logo on gray top and adjust its position to face the qrcode towards you.", + "Lift the black base with tilted gray panel from the surface and adjust its angle towards you", + "Use the left arm to take the payment sign with green logo and turn it until the QR code faces you", + "Catch the payment sign with angled face, lift it, and adjust its QR code to face you." + ], + "unseen": [ + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode7.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..57d8fc29d9f6cc5d9f870a6d6dea1e6fdb369ac0 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Catch the gray top with QR code, lift it, and turn the qrcode towards you.", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Employ the right arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Catch the green payment logo on gray top using the right arm, pick it up, and turn it to face the QR code.", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Use the right arm to grab the small payment stand with black base, rotate, and face the QR code towards you.", + "Use the right arm to lift the tabletop-sized payment sign from the table and face the qrcode.", + "Grab the payment sign with angled face using the right arm, lift, and rotate until QR code faces you.", + "Lift the small payment stand with black base from the table and rotate it so the code faces you.", + "Catch the gray top with QR code, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the black base with tilted gray panel and rotate it until the QR faces forward", + "Take the triangular stand with QR code, raise it, and make the qrcode face you.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Catch the gray slanted panel with text, pick it up, and rotate to view the qrcode.", + "Pick the gray top with QR code up, then rotate to make its qrcode visible.", + "Lift the gray top with QR code from the table, turning it QR code forward.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Use the right arm to grab the gray top with QR code, lift, and turn it QR code forward", + "Find the small payment stand with black base, grab it, and turn it towards yourself.", + "Lift the black base with tilted gray panel and rotate it until the QR code faces you.", + "Grab the payment sign with angled face using the right arm, then rotate the QR code to face forward.", + "Use the right arm to take the black base with tilted gray panel and turn it until the QR code faces you", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Lift the gray slanted panel with text with the right arm, then rotate it to make the qrcode visible.", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Catch and lift the small black stand for payments, then turn it to show the QR code.", + "Grab the slanted gray panel for QR code scan using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the small payment stand with black base and point its QR code toward you.", + "Catch the triangular stand with QR code with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to pick the gray top with QR code and turn it towards you.", + "Grab the slanted gray panel for QR code scan with the right arm, then rotate it to face yourself.", + "Catch the tabletop-sized payment sign, lift, and rotate to align the qrcode to you.", + "Lift the gray slanted panel with text and orient its QR code toward you with the right arm.", + "Using the right arm, catch the gray top with QR code and rotate it to face the QR code.", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Pick the green payment logo on gray top up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the triangular stand with QR code and rotate QR code towards you.", + "Pick up the triangular stand with QR code and rotate it so the QR code faces you", + "Slide the payment sign with angled face off the table and turn it to face you.", + "Use the right arm to lift the small black stand for payments and rotate it QR code toward you.", + "Catch the tabletop-sized payment sign, raise it, and turn it so the QR code faces you", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Pick the black base with tilted gray panel up, rotate it, and ensure the QR code faces you.", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Locate the payment sign with angled face, pick it up, and adjust its angle.", + "Use the right arm to grab the tabletop-sized payment sign and rotate the qrcode to face you.", + "Grab the tabletop-sized payment sign, pick it up, and turn its qrcode toward you.", + "Catch the gray slanted panel with text, lift it, and rotate it QR code facing.", + "Catch the gray slanted panel with text, lift it, and adjust its QR code to face you.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Lift the slanted gray panel for QR code scan and rotate for its qrcode to face you.", + "Employ the right arm to seize the slanted gray panel for QR code scan, raise it, and rotate it QR-forward", + "Catch the small black stand for payments using the right arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign from the table and rotate it towards you", + "Use the right arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Use the right arm to lift the payment sign with angled face from the table and face the qrcode.", + "Grab the payment sign with angled face using the right arm, lift, and rotate until QR code faces you.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the paymentsign and rotate it until the QR faces forward", + "Take the payment sign with angled face, raise it, and make the qrcode face you.", + "Lift the small black stand for payments and rotate until its qrcode faces you.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Pick the slanted gray panel for QR code scan up, then rotate to make its qrcode visible.", + "Lift the gray top with QR code from the table, turning it QR code forward.", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Use the right arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Find the triangular stand with QR code, grab it, and turn it towards yourself.", + "Lift the small payment stand with black base and rotate it until the QR code faces you.", + "Grab the triangular stand with QR code using the right arm, then rotate the QR code to face forward.", + "Use the right arm to take the triangular stand with QR code and turn it until the QR code faces you", + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Lift the triangular stand with QR code with the right arm, then rotate it to make the qrcode visible.", + "Take the small payment stand with black base from the table, rotating it QR code toward you.", + "Grab the gray slanted panel with text, lift it from the table, and rotate it QR front", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Grab the triangular stand with QR code using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the green payment logo on gray top and point its QR code toward you.", + "Catch the tabletop-sized payment sign with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to pick the paymentsign and turn it towards you.", + "Grab the paymentsign with the right arm, then rotate it to face yourself.", + "Catch the gray slanted panel with text, lift, and rotate to align the qrcode to you.", + "Lift the payment sign with angled face and orient its QR code toward you with the right arm.", + "Using the right arm, catch the gray top with QR code and rotate it to face the QR code.", + "Catch the gray top with QR code off the table and rotate its qrcode to you.", + "Pick the paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the tabletop-sized payment sign and rotate QR code towards you.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Slide the paymentsign off the table and turn it to face you.", + "Use the right arm to lift the gray slanted panel with text and rotate it QR code toward you.", + "Catch the triangular stand with QR code, raise it, and turn it so the QR code faces you", + "Lift the payment sign with green logo from the surface and adjust its angle towards you", + "Pick the green payment logo on gray top up, rotate it, and ensure the QR code faces you.", + "Take the green payment logo on gray top, lift it, and orient it so the QR faces you", + "Locate the small payment stand with black base, pick it up, and adjust its angle." + ], + "unseen": [ + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode8.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..0970d19b4038c65dbd26d1828204adc875cbb2a2 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Employ the left arm to seize the smooth beige paymentsign, raise it, and rotate it QR-forward", + "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.", + "Use the left arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Lift the compact paymentsign for scanning payments and rotate until its qrcode faces you.", + "Lift the beige paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate it until the QR faces forward", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Grab the paymentsign with blue and white text with the left arm, then rotate it to face yourself.", + "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.", + "Grab the small paymentsign for mobile payments, pick it up, and turn its qrcode toward you.", + "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.", + "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.", + "Locate the small paymentsign for mobile payments, pick it up, and adjust its angle.", + "Lift the beige paymentsign from the table and turn it to face you.", + "Pick up the paymentsign with tilted rectangular panel and rotate it so the QR code faces you", + "Use the left arm to lift the rectangular paymentsign with colorful top and rotate it QR code toward you.", + "Use the left arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Use the left arm to grab the beige paymentsign with printed details and rotate QR code towards you.", + "Pick the small paymentsign for mobile payments up, then rotate to make its qrcode visible.", + "Use the left arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Grab the compact paymentsign for scanning payments using the left arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with tilted rectangular panel using the left arm, pick it up, and turn it to face the QR code.", + "Grab the small paymentsign for mobile payments using the left arm, then rotate the QR code to face forward.", + "Take the paymentsign resting on angled base, lift it, and orient it so the QR faces you", + "Slide the small paymentsign for mobile payments off the table and turn it to face you.", + "Take the beige paymentsign with printed details, raise it, and make the qrcode face you.", + "Using the left arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you", + "Lift the QR code paymentsign and orient its QR code toward you with the left arm.", + "Use the left arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Lift the small paymentsign for mobile payments from the table and rotate it towards you", + "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.", + "Lift the QR code paymentsign from the table, turning it QR code forward.", + "Catch and lift the paymentsign showing QR code label, then turn it to show the QR code.", + "Grab the small paymentsign for mobile payments using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and adjust its QR code to face you.", + "Pick up the paymentsign showing QR code label and adjust its position to face the qrcode towards you.", + "Find the small paymentsign for mobile payments, grab it, and turn it towards yourself.", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Use the left arm to grab the beige paymentsign with printed details and point its QR code toward you.", + "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Lift the paymentsign with blue and white text from the surface and adjust its angle towards you", + "Catch the QR code paymentsign with the left arm, then rotate it to make the QR code visible.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.", + "Employ the left arm to seize the paymentsign showing QR code label, raise it, and rotate it QR-forward", + "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.", + "Use the left arm to pick the beige paymentsign and turn it towards you.", + "Lift the paymentsign with blue and white text and rotate until its qrcode faces you.", + "Lift the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the qrcode visible.", + "Lift the smooth beige paymentsign and rotate it until the QR code faces you.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the paymentsign showing QR code label and rotate it until the QR faces forward", + "Catch the stand-up paymentsign with rectangular top, lift it, and rotate it QR code facing.", + "Grab the QR code paymentsign with the left arm, then rotate it to face yourself.", + "Catch the paymentsign with blue and white text, lift, and rotate to align the qrcode to you.", + "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.", + "Take the paymentsign with tilted rectangular panel from the table, rotating it QR code toward you.", + "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.", + "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.", + "Lift the compact paymentsign for scanning payments from the table and turn it to face you.", + "Pick up the beige paymentsign and rotate it so the QR code faces you", + "Use the left arm to lift the beige paymentsign and rotate it QR code toward you.", + "Use the left arm to lift the small paymentsign for mobile payments from the table and face the qrcode.", + "Use the left arm to grab the paymentsign with blue and white text and rotate QR code towards you.", + "Pick the compact paymentsign for scanning payments up, then rotate to make its qrcode visible.", + "Use the left arm to take the small paymentsign for mobile payments and turn it until the QR code faces you", + "Grab the beige paymentsign with printed details using the left arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign resting on angled base using the left arm, pick it up, and turn it to face the QR code.", + "Grab the stand-up paymentsign with rectangular top using the left arm, then rotate the QR code to face forward.", + "Take the rectangular paymentsign with colorful top, lift it, and orient it so the QR faces you", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.", + "Using the left arm, catch the paymentsign with blue and white text and rotate it to face the QR code.", + "Catch the paymentsign showing QR code label, raise it, and turn it so the QR code faces you", + "Lift the small paymentsign for mobile payments and orient its QR code toward you with the left arm.", + "Use the left arm to grab the paymentsign resting on angled base, rotate, and face the QR code towards you.", + "Grab the paymentsign resting on angled base, lift it from the table, and rotate it QR front", + "Use the left arm to grab the smooth beige paymentsign and rotate the qrcode to face you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it towards you", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Lift the paymentsign showing QR code label from the table, turning it QR code forward.", + "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.", + "Grab the rectangular paymentsign with colorful top using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Use the left arm to grab the beige paymentsign and point its QR code toward you.", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the rectangular paymentsign with colorful top, lift, and turn it QR code forward", + "Lift the smooth beige paymentsign from the surface and adjust its angle towards you", + "Catch the rectangular paymentsign with colorful top with the left arm, then rotate it to make the QR code visible.", + "Lift the beige paymentsign from the table and rotate it so the code faces you." + ], + "unseen": [ + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode9.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..bd60ce58c004248f06008d695cfc95f5f0a0d646 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Find the paymentsign, grab it, and turn it towards yourself.", + "Catch the white paymentsign with raised base, lift it, and turn the qrcode towards you.", + "Take the white paymentsign with raised base, lift it, and orient it so the QR faces you", + "Use the left arm to lift the white stand sign and rotate it QR code toward you.", + "Catch the white paymentsign with raised base, pick it up, and rotate to view the qrcode.", + "Slide the sign with yellow payment section off the table and turn it to face you.", + "Lift the plastic smooth paymentsign from the surface and adjust its angle towards you", + "Take the white stand sign from the table, rotating it QR code toward you.", + "Locate the yellow panel white paymentsign, pick it up, and adjust its angle.", + "Catch the rectangular paymentsign with stand, lift it, and rotate it QR code facing.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Lift the white stand sign from the table, turning it QR code forward.", + "Lift the rectangular paymentsign with stand and rotate until its qrcode faces you.", + "Catch and lift the paymentsign with QR code area, then turn it to show the QR code.", + "Lift the white stand sign and orient its QR code toward you with the left arm.", + "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Use the left arm to grab the yellow panel white paymentsign, lift, and turn it QR code forward", + "Grab the sign with yellow payment section using the left arm, then rotate it until the qrcode faces you.", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Catch the plastic smooth paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Lift the yellow and white payment display from the table and rotate it towards you", + "Pick the paymentsign up and turn its QR code toward you using the left arm.", + "Use the left arm to take the white rectangular paymentsign with yellow details and turn it until the QR code faces you", + "Grab the plastic smooth paymentsign with the left arm, then rotate it to face yourself.", + "Pick up the rectangular paymentsign with stand and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the sign with yellow payment section, rotate, and face the QR code towards you.", + "Use the left arm to grab the yellow and white payment display and rotate QR code towards you.", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Grab the smooth plastic paymentsign with QR code using the left arm, then rotate the QR code to face forward.", + "Lift the white rectangular paymentsign with yellow details with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the sign with yellow payment section and point its QR code toward you.", + "Use the left arm to grab the yellow and white payment display and rotate the qrcode to face you.", + "Catch the yellow and white payment display, lift, and rotate to align the qrcode to you.", + "Grab the yellow and white payment display, pick it up, and turn its qrcode toward you.", + "Using the left arm, catch the paymentsign with QR code area and rotate it to face the QR code.", + "Catch the yellow and white payment display, raise it, and turn it so the QR code faces you", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to pick the white paymentsign with raised base and turn it towards you.", + "Use the left arm to lift the yellow and white payment display from the table and face the qrcode.", + "Lift the white paymentsign with raised base and rotate for its qrcode to face you.", + "Employ the left arm to seize the rectangular paymentsign with stand, raise it, and rotate it QR-forward", + "Pick up the plastic smooth paymentsign and rotate it so the QR code faces you", + "Grab the tabletop paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Use the left arm to grab the white paymentsign with raised base and rotate it until the QR faces forward", + "Lift the yellow and white payment display from the table and turn it to face you.", + "Take the smooth plastic paymentsign with QR code, raise it, and make the qrcode face you.", + "Find the tabletop paymentsign, grab it, and turn it towards yourself.", + "Catch the sign with yellow payment section, lift it, and turn the qrcode towards you.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to lift the yellow and white payment display and rotate it QR code toward you.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Slide the yellow panel white paymentsign off the table and turn it to face you.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Take the paymentsign with QR code area from the table, rotating it QR code toward you.", + "Locate the sign with yellow payment section, pick it up, and adjust its angle.", + "Catch the white stand sign, lift it, and rotate it QR code facing.", + "Catch the tabletop paymentsign with the left arm, then rotate it to make the QR code visible.", + "Pick the tabletop paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Lift the paymentsign with QR code area and rotate until its qrcode faces you.", + "Catch and lift the white rectangular paymentsign with yellow details, then turn it to show the QR code.", + "Lift the yellow panel white paymentsign and orient its QR code toward you with the left arm.", + "Catch the yellow and white payment display, pick it up, and rotate to show the QR code.", + "Lift the sign with yellow payment section from the table and rotate it so the code faces you.", + "Use the left arm to grab the white rectangular paymentsign with yellow details, lift, and turn it QR code forward", + "Grab the tabletop paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Lift the white rectangular paymentsign with yellow details and rotate it until the QR code faces you.", + "Pick the white rectangular paymentsign with yellow details up, then rotate to make its qrcode visible.", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it towards you", + "Pick the yellow and white payment display up and turn its QR code toward you using the left arm.", + "Use the left arm to take the sign with yellow payment section and turn it until the QR code faces you", + "Grab the white stand sign with the left arm, then rotate it to face yourself.", + "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the white rectangular paymentsign with yellow details, rotate, and face the QR code towards you.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate QR code towards you.", + "Catch the white rectangular paymentsign with yellow details, lift it, and adjust its QR code to face you.", + "Grab the rectangular paymentsign with stand using the left arm, then rotate the QR code to face forward.", + "Lift the tabletop paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the tabletop paymentsign and point its QR code toward you.", + "Use the left arm to grab the white paymentsign with raised base and rotate the qrcode to face you.", + "Catch the sign with yellow payment section, lift, and rotate to align the qrcode to you.", + "Grab the sign with yellow payment section, pick it up, and turn its qrcode toward you.", + "Using the left arm, catch the plastic smooth paymentsign and rotate it to face the QR code.", + "Catch the sign with yellow payment section, raise it, and turn it so the QR code faces you", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to pick the white rectangular paymentsign with yellow details and turn it towards you.", + "Use the left arm to lift the white paymentsign with raised base from the table and face the qrcode.", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Employ the left arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Pick up the sign with yellow payment section and rotate it so the QR code faces you", + "Grab the white rectangular paymentsign with yellow details using the left arm, lift, and rotate until QR code faces you.", + "Grab the rectangular paymentsign with stand, lift it from the table, and rotate it QR front", + "Use the left arm to grab the plastic smooth paymentsign and rotate it until the QR faces forward", + "Lift the rectangular paymentsign with stand from the table and turn it to face you.", + "Take the white paymentsign with raised base, raise it, and make the qrcode face you." + ], + "unseen": [ + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/scene_info.json b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..63c842ac6cbb36b35f69ef32220e795099d4c625 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ARX-X5/meta/scene_info.json @@ -0,0 +1,552 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "070_paymentsign/base2", + "{a}": "right" + } + }, + "episode_1": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "070_paymentsign/base3", + "{a}": "left" + } + }, + "episode_2": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": 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b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/config.yml @@ -0,0 +1,54 @@ +urdf_path: "./urdf/arx5_description_isaac.urdf" +srdf_path: "./srdf/arx5_description_isaac.srdf" +joint_stiffness: 1000 +joint_damping: 200 +gripper_stiffness: 1000 +gripper_damping: 200 +move_group: ["fl_link6","fr_link6"] +ee_joints: ["fl_joint6", "fr_joint6"] +arm_joints_name: [["fl_joint1", "fl_joint2", "fl_joint3", "fl_joint4", "fl_joint5", "fl_joint6"], ["fr_joint1", "fr_joint2", "fr_joint3", "fr_joint4", "fr_joint5", "fr_joint6"]] +gripper_name: + - base: "fl_joint7" + mimic: [["fl_joint8", 1., 0.]] + - base: "fr_joint7" + mimic: [["fr_joint8", 1., 0.]] +gripper_bias: 0.12 +gripper_scale: [-0.01, 0.045] +homestate: [[0,0,0,0,0,0], [0,0,0,0,0,0]] +delta_matrix: [[1,0,0],[0,1,0],[0,0,1]] +global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] +robot_pose: [[0, -0.65, 0.0, 0.707, 0, 0, 0.707]] +# planner: "mplib_screw" +planner: "curobo" +dual_arm: True +rotate_lim: [0, 1] +grasp_perfect_direction: ['front_right', 'front_left'] +static_camera_list: +- name: head_camera + type: D435 + position: + - -0.032 + - -0.45 + - 1.35 + forward: + - 0 + - 0.6 + - -0.8 + left: + - -1 + - 0 + - 0 +- name: front_camera + type: D435 + position: + - 0 + - -0.45 + - 0.85 + forward: + - 0 + - 1 + - -0.1 + left: + - -1 + - 0 + - 0 \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/info.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f536dd21d09cb2bef09bdb9cf7e3ca38cab2d254 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/info.json @@ -0,0 +1,67 @@ +{ + "task": "rotate_qrcode", + "embodiment": "aloha-agilex", + "camera_views": [ + "head_camera", + "left_camera", + "right_camera" + ], + "data_resolution": "320x240", + "num_episodes": 50, + "embodiment_config": { + "urdf": "urdf/arx5_description_isaac.urdf", + "dual_arm": true, + "left_arm": [ + "fl_joint1", + "fl_joint2", + "fl_joint3", + "fl_joint4", + "fl_joint5", + "fl_joint6" + ], + "right_arm": [ + "fr_joint1", + "fr_joint2", + "fr_joint3", + "fr_joint4", + "fr_joint5", + "fr_joint6" + ], + "left_gripper": [ + "fl_joint7", + [ + [ + "fl_joint8", + 1.0, + 0.0 + ] + ] + ], + "right_gripper": [ + "fr_joint7", + [ + [ + "fr_joint8", + 1.0, + 0.0 + ] + ] + ], + "gripper_scale": [ + -0.01, + 0.045 + ], + "grasp_axis": [ + -1.0, + 0.0, + 0.0 + ], + "grasp_axis_verified": [ + 1.0, + 0.0, + 0.0 + ], + "grasp_axis_note": "default render is GT-exact and does not use grasp_axis; verified approach axis is +X (endpose sits at wrist fl_link6)." + }, + "source_renderer": "render/render_robotwin.py" +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode0.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..c08e46cc0e7bc7aa2111947ba5aac9e8ac2b35be --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the rectangular plastic paymentsign and adjust its position to face the qrcode towards you.", + "Lift the paymentsign for scanning QR codes and rotate until its qrcode faces you.", + "Use the left arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Lift the smooth surface paymentsign from the surface and adjust its angle towards you", + "Lift the blue and white paymentsign from the table, turning it QR code forward.", + "Use the left arm to grab the tabletop paymentsign and rotate QR code towards you.", + "Catch the rectangular plastic paymentsign with codes with the left arm, then rotate it to make the QR code visible.", + "Grab the paymentsign with angled black stand using the left arm, lift, and rotate until QR code faces you.", + "Take the paymentsign with glossy blue panel from the table, rotating it QR code toward you.", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the blue and white paymentsign and point its QR code toward you.", + "Lift the rectangular plastic paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Grab the blue and white paymentsign with the left arm, then rotate it to face yourself.", + "Catch the blue and white paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to lift the blue and white rectangular paymentsign from the table and face the qrcode.", + "Locate the blue and white rectangular paymentsign, pick it up, and adjust its angle.", + "Pick the paymentsign with glossy blue panel up, then rotate to make its qrcode visible.", + "Pick the tabletop paymentsign up and turn its QR code toward you using the left arm.", + "Lift the paymentsign with printed QR codes and orient its QR code toward you with the left arm.", + "Grab the small glossy paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the rectangular plastic paymentsign with codes and rotate the qrcode to face you.", + "Catch the small paymentsign with stand using the left arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with angled black stand off the table and rotate its qrcode to you.", + "Pick up the blue and white rectangular paymentsign and rotate it so the QR code faces you", + "Pick the blue and white paymentsign up, rotate it, and ensure the QR code faces you.", + "Take the rectangular plastic paymentsign with codes, raise it, and make the qrcode face you.", + "Slide the rectangular plastic paymentsign with codes off the table and turn it to face you.", + "Catch the smooth surface paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to pick the paymentsign with glossy blue panel and turn it towards you.", + "Using the left arm, catch the paymentsign with printed QR codes and rotate it to face the QR code.", + "Find the paymentsign with angled black stand, grab it, and turn it towards yourself.", + "Lift the small paymentsign with stand and rotate it until the QR code faces you.", + "Use the left arm to take the paymentsign for scanning QR codes and turn it until the QR code faces you", + "Take the paymentsign with angled black stand, lift it, and orient it so the QR faces you", + "Catch the paymentsign with angled black stand, lift it, and rotate it QR code facing.", + "Lift the blue and white paymentsign from the table and rotate it so the code faces you.", + "Employ the left arm to seize the rectangular plastic paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to grab the tabletop paymentsign, rotate, and face the QR code towards you.", + "Grab the tabletop paymentsign, lift it from the table, and rotate it QR front", + "Catch the rectangular plastic paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to lift the small glossy paymentsign and rotate it QR code toward you.", + "Lift the paymentsign for scanning QR codes from the table and rotate it towards you", + "Catch the paymentsign with printed QR codes, lift it, and turn the qrcode towards you.", + "Grab the smooth surface paymentsign, pick it up, and turn its qrcode toward you.", + "Grab the paymentsign with printed QR codes using the left arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign with printed QR codes and rotate for its qrcode to face you.", + "Lift the small glossy paymentsign from the table and turn it to face you.", + "Use the left arm to grab the small paymentsign with stand and rotate it until the QR faces forward", + "Catch and lift the smooth surface paymentsign, then turn it to show the QR code.", + "Catch the small paymentsign with stand, pick it up, and rotate to view the qrcode.", + "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.", + "Lift the smooth surface paymentsign and rotate until its qrcode faces you.", + "Use the left arm to grab the small glossy paymentsign, lift, and turn it QR code forward", + "Lift the small paymentsign with stand from the surface and adjust its angle towards you", + "Lift the rectangular plastic paymentsign with codes from the table, turning it QR code forward.", + "Use the left arm to grab the paymentsign for scanning QR codes and rotate QR code towards you.", + "Catch the paymentsign with printed QR codes with the left arm, then rotate it to make the QR code visible.", + "Grab the blue and white paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Take the paymentsign for scanning QR codes from the table, rotating it QR code toward you.", + "Catch the rectangular plastic paymentsign, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the rectangular plastic paymentsign and point its QR code toward you.", + "Lift the paymentsign with printed QR codes with the left arm, then rotate it to make the qrcode visible.", + "Grab the paymentsign with glossy blue panel with the left arm, then rotate it to face yourself.", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to lift the blue and white paymentsign from the table and face the qrcode.", + "Locate the paymentsign with glossy blue panel, pick it up, and adjust its angle.", + "Pick the rectangular plastic paymentsign up, then rotate to make its qrcode visible.", + "Pick the small glossy paymentsign up and turn its QR code toward you using the left arm.", + "Lift the paymentsign for scanning QR codes and orient its QR code toward you with the left arm.", + "Grab the blue and white rectangular paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the smooth surface paymentsign and rotate the qrcode to face you.", + "Catch the rectangular plastic paymentsign with codes using the left arm, pick it up, and turn it to face the QR code.", + "Catch the rectangular plastic paymentsign off the table and rotate its qrcode to you.", + "Pick up the rectangular plastic paymentsign and rotate it so the QR code faces you", + "Pick the rectangular plastic paymentsign up, rotate it, and ensure the QR code faces you.", + "Take the small glossy paymentsign, raise it, and make the qrcode face you.", + "Slide the rectangular plastic paymentsign off the table and turn it to face you.", + "Catch the rectangular plastic paymentsign with codes, raise it, and turn it so the QR code faces you", + "Use the left arm to pick the smooth surface paymentsign and turn it towards you.", + "Using the left arm, catch the rectangular plastic paymentsign and rotate it to face the QR code.", + "Find the smooth surface paymentsign, grab it, and turn it towards yourself.", + "Lift the small glossy paymentsign and rotate it until the QR code faces you.", + "Use the left arm to take the paymentsign with angled black stand and turn it until the QR code faces you", + "Take the small paymentsign with stand, lift it, and orient it so the QR faces you", + "Catch the rectangular plastic paymentsign with codes, lift it, and rotate it QR code facing.", + "Lift the paymentsign with glossy blue panel from the table and rotate it so the code faces you.", + "Employ the left arm to seize the smooth surface paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to grab the rectangular plastic paymentsign, rotate, and face the QR code towards you.", + "Grab the tabletop paymentsign, lift it from the table, and rotate it QR front", + "Catch the small paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Use the left arm to lift the smooth surface paymentsign and rotate it QR code toward you.", + "Lift the blue and white paymentsign from the table and rotate it towards you", + "Catch the rectangular plastic paymentsign with codes, lift it, and turn the qrcode towards you.", + "Grab the paymentsign with angled black stand, pick it up, and turn its qrcode toward you.", + "Grab the small paymentsign with stand using the left arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign for scanning QR codes and rotate for its qrcode to face you.", + "Lift the paymentsign for scanning QR codes from the table and turn it to face you.", + "Use the left arm to grab the smooth surface paymentsign and rotate it until the QR faces forward", + "Catch and lift the rectangular plastic paymentsign, then turn it to show the QR code.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to view the qrcode." + ], + "unseen": [ + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode1.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..314ee55e29365d5d2caa436a5edce8a626718a9f --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the small paymentsign for mobile payments with the right arm, then rotate it to make the QR code visible.", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate it until the qrcode faces you.", + "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.", + "Use the right arm to pick the paymentsign showing QR code label and turn it towards you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Lift the beige paymentsign with printed details and rotate for its qrcode to face you.", + "Use the right arm to lift the rectangular paymentsign with colorful top and rotate it QR code toward you.", + "Catch and lift the paymentsign resting on angled base, then turn it to show the QR code.", + "Use the right arm to grab the beige paymentsign with printed details and rotate the qrcode to face you.", + "Catch the beige paymentsign with printed details, raise it, and turn it so the QR code faces you", + "Grab the smooth beige paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the QR code paymentsign, lift, and turn it QR code forward", + "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.", + "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you", + "Take the QR code paymentsign, raise it, and make the qrcode face you.", + "Locate the stand-up paymentsign with rectangular top, pick it up, and adjust its angle.", + "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.", + "Lift the QR code paymentsign and rotate until its qrcode faces you.", + "Lift the compact paymentsign for scanning payments from the table and rotate it so the code faces you.", + "Pick up the smooth beige paymentsign and adjust its position to face the qrcode towards you.", + "Use the right arm to take the paymentsign showing QR code label and turn it until the QR code faces you", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Catch the QR code paymentsign, lift it, and turn the qrcode towards you.", + "Pick the paymentsign showing QR code label up and turn its QR code toward you using the right arm.", + "Grab the compact paymentsign for scanning payments with the right arm, then rotate it to face yourself.", + "Slide the paymentsign showing QR code label off the table and turn it to face you.", + "Lift the paymentsign showing QR code label from the table and turn it to face you.", + "Employ the right arm to seize the paymentsign with blue and white text, raise it, and rotate it QR-forward", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Pick the smooth beige paymentsign up, then rotate to make its qrcode visible.", + "Use the right arm to grab the small paymentsign for mobile payments and point its QR code toward you.", + "Use the right arm to grab the smooth beige paymentsign and rotate it until the QR faces forward", + "Pick the paymentsign with tilted rectangular panel up, rotate it, and ensure the QR code faces you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Catch the rectangular paymentsign with colorful top using the right arm, pick it up, and turn it to face the QR code.", + "Grab the paymentsign showing QR code label using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the QR code paymentsign from the table and face the qrcode.", + "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.", + "Lift the paymentsign with blue and white text with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the QR code paymentsign and rotate QR code towards you.", + "Using the right arm, catch the QR code paymentsign and rotate it to face the QR code.", + "Lift the paymentsign resting on angled base from the table, turning it QR code forward.", + "Lift the rectangular paymentsign with colorful top and orient its QR code toward you with the right arm.", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Use the right arm to grab the paymentsign resting on angled base, rotate, and face the QR code towards you.", + "Take the paymentsign resting on angled base, lift it, and orient it so the QR faces you", + "Grab the paymentsign with tilted rectangular panel using the right arm, then rotate the QR code to face forward.", + "Catch the smooth beige paymentsign off the table and rotate its qrcode to you.", + "Catch the beige paymentsign with the right arm, then rotate it to make the QR code visible.", + "Grab the beige paymentsign with printed details using the right arm, then rotate it until the qrcode faces you.", + "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.", + "Use the right arm to pick the paymentsign with blue and white text and turn it towards you.", + "Catch the QR code paymentsign, lift it, and rotate it QR code facing.", + "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.", + "Use the right arm to lift the paymentsign showing QR code label and rotate it QR code toward you.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Use the right arm to grab the QR code paymentsign and rotate the qrcode to face you.", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward", + "Take the QR code paymentsign from the table, rotating it QR code toward you.", + "Lift the stand-up paymentsign with rectangular top from the surface and adjust its angle towards you", + "Take the beige paymentsign, raise it, and make the qrcode face you.", + "Locate the paymentsign showing QR code label, pick it up, and adjust its angle.", + "Lift the smooth beige paymentsign and rotate it until the QR code faces you.", + "Lift the paymentsign resting on angled base and rotate until its qrcode faces you.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it so the code faces you.", + "Pick up the paymentsign with blue and white text and adjust its position to face the qrcode towards you.", + "Use the right arm to take the compact paymentsign for scanning payments and turn it until the QR code faces you", + "Catch the paymentsign showing QR code label, pick it up, and rotate to view the qrcode.", + "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.", + "Pick the paymentsign resting on angled base up and turn its QR code toward you using the right arm.", + "Grab the beige paymentsign with the right arm, then rotate it to face yourself.", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Lift the smooth beige paymentsign from the table and turn it to face you.", + "Employ the right arm to seize the paymentsign with tilted rectangular panel, raise it, and rotate it QR-forward", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Pick the beige paymentsign with printed details up, then rotate to make its qrcode visible.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and point its QR code toward you.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate it until the QR faces forward", + "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you", + "Catch the paymentsign with blue and white text using the right arm, pick it up, and turn it to face the QR code.", + "Grab the paymentsign with tilted rectangular panel using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the smooth beige paymentsign from the table and face the qrcode.", + "Catch the paymentsign with tilted rectangular panel, lift it, and adjust its QR code to face you.", + "Lift the paymentsign showing QR code label with the right arm, then rotate it to make the qrcode visible.", + "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the QR code paymentsign and rotate QR code towards you.", + "Using the right arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.", + "Lift the rectangular paymentsign with colorful top from the table, turning it QR code forward.", + "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the right arm.", + "Find the paymentsign with tilted rectangular panel, grab it, and turn it towards yourself.", + "Lift the smooth beige paymentsign from the table and rotate it towards you", + "Use the right arm to grab the paymentsign with tilted rectangular panel, rotate, and face the QR code towards you.", + "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you", + "Grab the paymentsign with blue and white text using the right arm, then rotate the QR code to face forward.", + "Catch the paymentsign with tilted rectangular panel off the table and rotate its qrcode to you." + ], + "unseen": [ + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode10.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..6aee29f5fbc7205851c27ab64359a3ba2c1e4d87 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, catch the paymentsign with QR code area and rotate it to face the QR code.", + "Grab the paymentsign with QR code area, lift it from the table, and rotate it QR front", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Use the right arm to grab the yellow panel white paymentsign and point its QR code toward you.", + "Use the right arm to lift the paymentsign and rotate it QR code toward you.", + "Grab the rectangular paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Lift the yellow panel white paymentsign and rotate for its qrcode to face you.", + "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.", + "Pick the yellow and white payment display up, rotate it, and ensure the QR code faces you.", + "Lift the plastic smooth paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.", + "Grab the paymentsign with QR code area using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Grab the sign with yellow payment section, pick it up, and turn its qrcode toward you.", + "Catch the white rectangular paymentsign with yellow details using the right arm, pick it up, and turn it to face the QR code.", + "Catch the white rectangular paymentsign with yellow details, lift it, and adjust its QR code to face you.", + "Catch the sign with yellow payment section, pick it up, and rotate to show the QR code.", + "Lift the plastic smooth paymentsign from the table and rotate it towards you", + "Lift the paymentsign and orient its QR code toward you with the right arm.", + "Lift the yellow panel white paymentsign and rotate it until the QR code faces you.", + "Slide the plastic smooth paymentsign off the table and turn it to face you.", + "Catch the plastic smooth paymentsign, raise it, and turn it so the QR code faces you", + "Use the right arm to pick the sign with yellow payment section and turn it towards you.", + "Lift the white stand sign from the surface and adjust its angle towards you", + "Use the right arm to take the yellow and white payment display and turn it until the QR code faces you", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate the qrcode to face you.", + "Use the right arm to grab the plastic smooth paymentsign and rotate QR code towards you.", + "Pick up the rectangular paymentsign with stand and rotate it so the QR code faces you", + "Locate the white paymentsign with raised base, pick it up, and adjust its angle.", + "Pick the tabletop paymentsign up, then rotate to make its qrcode visible.", + "Catch the smooth plastic paymentsign with QR code, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the rectangular paymentsign with stand, lift, and turn it QR code forward", + "Catch the rectangular paymentsign with stand, pick it up, and rotate to view the qrcode.", + "Catch and lift the yellow panel white paymentsign, then turn it to show the QR code.", + "Employ the right arm to seize the smooth plastic paymentsign with QR code, raise it, and rotate it QR-forward", + "Take the white rectangular paymentsign with yellow details, lift it, and orient it so the QR faces you", + "Pick the smooth plastic paymentsign with QR code up and turn its QR code toward you using the right arm.", + "Lift the paymentsign with QR code area from the table and turn it to face you.", + "Find the white rectangular paymentsign with yellow details, grab it, and turn it towards yourself.", + "Catch the tabletop paymentsign, lift it, and rotate it QR code facing.", + "Take the plastic smooth paymentsign, raise it, and make the qrcode face you.", + "Grab the white paymentsign with raised base with the right arm, then rotate it to face yourself.", + "Catch the yellow and white payment display with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the sign with yellow payment section and rotate it until the QR faces forward", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Use the right arm to lift the white paymentsign with raised base from the table and face the qrcode.", + "Grab the paymentsign with QR code area using the right arm, then rotate the QR code to face forward.", + "Lift the rectangular paymentsign with stand from the table and rotate it so the code faces you.", + "Using the right arm, catch the white paymentsign with raised base and rotate it to face the QR code.", + "Grab the white stand sign, lift it from the table, and rotate it QR front", + "Lift the sign with yellow payment section from the table, turning it QR code forward.", + "Use the right arm to grab the sign with yellow payment section and point its QR code toward you.", + "Use the right arm to lift the white stand sign and rotate it QR code toward you.", + "Grab the yellow and white payment display using the right arm, then rotate it until the qrcode faces you.", + "Catch the rectangular paymentsign with stand, lift it, and turn the qrcode towards you.", + "Lift the smooth plastic paymentsign with QR code and rotate for its qrcode to face you.", + "Lift the yellow and white payment display and rotate until its qrcode faces you.", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Lift the tabletop paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Pick up the rectangular paymentsign with stand and adjust its position to face the qrcode towards you.", + "Grab the smooth plastic paymentsign with QR code using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the yellow panel white paymentsign, rotate, and face the QR code towards you.", + "Grab the plastic smooth paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the sign with yellow payment section, lift it, and adjust its QR code to face you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Lift the plastic smooth paymentsign and orient its QR code toward you with the right arm.", + "Lift the plastic smooth paymentsign and rotate it until the QR code faces you.", + "Slide the yellow panel white paymentsign off the table and turn it to face you.", + "Catch the rectangular paymentsign with stand, raise it, and turn it so the QR code faces you", + "Use the right arm to pick the white rectangular paymentsign with yellow details and turn it towards you.", + "Lift the rectangular paymentsign with stand from the surface and adjust its angle towards you", + "Use the right arm to take the rectangular paymentsign with stand and turn it until the QR code faces you", + "Catch the white stand sign off the table and rotate its qrcode to you.", + "Use the right arm to grab the yellow panel white paymentsign and rotate the qrcode to face you.", + "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate QR code towards you.", + "Pick up the plastic smooth paymentsign and rotate it so the QR code faces you", + "Locate the white stand sign, pick it up, and adjust its angle.", + "Pick the sign with yellow payment section up, then rotate to make its qrcode visible.", + "Catch the plastic smooth paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the plastic smooth paymentsign, lift, and turn it QR code forward", + "Catch the rectangular paymentsign with stand, pick it up, and rotate to view the qrcode.", + "Catch and lift the sign with yellow payment section, then turn it to show the QR code.", + "Employ the right arm to seize the plastic smooth paymentsign, raise it, and rotate it QR-forward", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Pick the plastic smooth paymentsign up and turn its QR code toward you using the right arm.", + "Lift the paymentsign from the table and turn it to face you.", + "Find the smooth plastic paymentsign with QR code, grab it, and turn it towards yourself.", + "Catch the paymentsign with QR code area, lift it, and rotate it QR code facing.", + "Take the white paymentsign with raised base, raise it, and make the qrcode face you.", + "Grab the paymentsign with the right arm, then rotate it to face yourself.", + "Catch the yellow and white payment display with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate it until the QR faces forward", + "Take the rectangular paymentsign with stand from the table, rotating it QR code toward you.", + "Use the right arm to lift the plastic smooth paymentsign from the table and face the qrcode.", + "Grab the paymentsign with QR code area using the right arm, then rotate the QR code to face forward.", + "Lift the tabletop paymentsign from the table and rotate it so the code faces you." + ], + "unseen": [ + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode11.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..684b97c353519fd51703e4020a3a651a905b8d39 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.", + "Catch the compact paymentsign for scanning payments using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to take the paymentsign resting on angled base and turn it until the QR code faces you", + "Use the left arm to grab the QR code paymentsign, lift, and turn it QR code forward", + "Grab the smooth beige paymentsign with the left arm, then rotate it to face yourself.", + "Using the left arm, catch the QR code paymentsign and rotate it to face the QR code.", + "Use the left arm to grab the small paymentsign for mobile payments and point its QR code toward you.", + "Catch and lift the QR code paymentsign, then turn it to show the QR code.", + "Use the left arm to lift the compact paymentsign for scanning payments and rotate it QR code toward you.", + "Catch the smooth beige paymentsign, lift it, and adjust its QR code to face you.", + "Pick up the compact paymentsign for scanning payments and rotate it so the QR code faces you", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.", + "Use the left arm to grab the beige paymentsign and rotate it until the QR faces forward", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Use the left arm to grab the paymentsign with blue and white text, rotate, and face the QR code towards you.", + "Lift the paymentsign with tilted rectangular panel from the surface and adjust its angle towards you", + "Grab the compact paymentsign for scanning payments, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the smooth beige paymentsign and rotate QR code towards you.", + "Grab the beige paymentsign with printed details using the left arm, then rotate the QR code to face forward.", + "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign resting on angled base, raise it, and turn it so the QR code faces you", + "Catch the paymentsign resting on angled base with the left arm, then rotate it to make the QR code visible.", + "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Pick the stand-up paymentsign with rectangular top up and turn its QR code toward you using the left arm.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it so the code faces you.", + "Pick the compact paymentsign for scanning payments up, then rotate to make its qrcode visible.", + "Use the left arm to pick the stand-up paymentsign with rectangular top and turn it towards you.", + "Use the left arm to grab the QR code paymentsign and rotate the qrcode to face you.", + "Lift the small paymentsign for mobile payments from the table, turning it QR code forward.", + "Take the paymentsign resting on angled base from the table, rotating it QR code toward you.", + "Lift the paymentsign with tilted rectangular panel with the left arm, then rotate it to make the qrcode visible.", + "Grab the QR code paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign resting on angled base from the table and rotate it towards you", + "Find the small paymentsign for mobile payments, grab it, and turn it towards yourself.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the paymentsign resting on angled base from the table and face the qrcode.", + "Employ the left arm to seize the beige paymentsign, raise it, and rotate it QR-forward", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Grab the paymentsign with tilted rectangular panel using the left arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign resting on angled base and orient its QR code toward you with the left arm.", + "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to view the qrcode.", + "Lift the smooth beige paymentsign and rotate for its qrcode to face you.", + "Catch the small paymentsign for mobile payments, lift it, and rotate it QR code facing.", + "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.", + "Catch the QR code paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to take the paymentsign with blue and white text and turn it until the QR code faces you", + "Use the left arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward", + "Grab the paymentsign resting on angled base with the left arm, then rotate it to face yourself.", + "Using the left arm, catch the stand-up paymentsign with rectangular top and rotate it to face the QR code.", + "Use the left arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Use the left arm to lift the paymentsign with blue and white text and rotate it QR code toward you.", + "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.", + "Locate the smooth beige paymentsign, pick it up, and adjust its angle.", + "Use the left arm to grab the beige paymentsign with printed details and rotate it until the QR faces forward", + "Catch the small paymentsign for mobile payments off the table and rotate its qrcode to you.", + "Use the left arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Lift the stand-up paymentsign with rectangular top from the surface and adjust its angle towards you", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the smooth beige paymentsign and rotate QR code towards you.", + "Grab the beige paymentsign using the left arm, then rotate the QR code to face forward.", + "Grab the paymentsign showing QR code label, lift it from the table, and rotate it QR front", + "Lift the beige paymentsign from the table and turn it to face you.", + "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign showing QR code label, raise it, and turn it so the QR code faces you", + "Catch the beige paymentsign with printed details with the left arm, then rotate it to make the QR code visible.", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Slide the paymentsign showing QR code label off the table and turn it to face you.", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you", + "Pick the paymentsign showing QR code label up and turn its QR code toward you using the left arm.", + "Lift the small paymentsign for mobile payments from the table and rotate it so the code faces you.", + "Pick the beige paymentsign with printed details up, then rotate to make its qrcode visible.", + "Use the left arm to pick the paymentsign showing QR code label and turn it towards you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate the qrcode to face you.", + "Lift the paymentsign with blue and white text from the table, turning it QR code forward.", + "Take the paymentsign with blue and white text from the table, rotating it QR code toward you.", + "Lift the compact paymentsign for scanning payments with the left arm, then rotate it to make the qrcode visible.", + "Grab the paymentsign showing QR code label using the left arm, then rotate it until the qrcode faces you.", + "Lift the smooth beige paymentsign from the table and rotate it towards you", + "Find the paymentsign with blue and white text, grab it, and turn it towards yourself.", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the small paymentsign for mobile payments from the table and face the qrcode.", + "Employ the left arm to seize the smooth beige paymentsign, raise it, and rotate it QR-forward", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Grab the paymentsign with tilted rectangular panel using the left arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign with blue and white text and orient its QR code toward you with the left arm.", + "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to view the qrcode.", + "Lift the beige paymentsign and rotate for its qrcode to face you.", + "Catch the rectangular paymentsign with colorful top, lift it, and rotate it QR code facing." + ], + "unseen": [ + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode12.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..7b6ed74ef9bce9073e7b804210d02b40534244fe --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the beige paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Lift the small paymentsign for mobile payments from the table, turning it QR code forward.", + "Catch the smooth beige paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch and lift the compact paymentsign for scanning payments, then turn it to show the QR code.", + "Lift the paymentsign with tilted rectangular panel from the surface and adjust its angle towards you", + "Lift the small paymentsign for mobile payments from the table and rotate it towards you", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.", + "Pick up the paymentsign with tilted rectangular panel and rotate it so the QR code faces you", + "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you", + "Grab the QR code paymentsign, lift it from the table, and rotate it QR front", + "Lift the QR code paymentsign and orient its QR code toward you with the left arm.", + "Take the QR code paymentsign, lift it, and orient it so the QR faces you", + "Take the beige paymentsign with printed details, raise it, and make the qrcode face you.", + "Employ the left arm to seize the beige paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to grab the paymentsign with blue and white text and point its QR code toward you.", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the left arm.", + "Lift the paymentsign showing QR code label with the left arm, then rotate it to make the qrcode visible.", + "Using the left arm, catch the beige paymentsign and rotate it to face the QR code.", + "Use the left arm to lift the small paymentsign for mobile payments and rotate it QR code toward you.", + "Use the left arm to pick the paymentsign with blue and white text and turn it towards you.", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Pick up the smooth beige paymentsign and adjust its position to face the qrcode towards you.", + "Grab the rectangular paymentsign with colorful top using the left arm, then rotate the QR code to face forward.", + "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Use the left arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Grab the QR code paymentsign with the left arm, then rotate it to face yourself.", + "Catch the beige paymentsign, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the paymentsign showing QR code label, rotate, and face the QR code towards you.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the beige paymentsign and rotate it until the QR faces forward", + "Use the left arm to grab the small paymentsign for mobile payments and rotate the qrcode to face you.", + "Locate the beige paymentsign with printed details, pick it up, and adjust its angle.", + "Use the left arm to lift the paymentsign showing QR code label from the table and face the qrcode.", + "Catch the QR code paymentsign off the table and rotate its qrcode to you.", + "Lift the stand-up paymentsign with rectangular top and rotate for its qrcode to face you.", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Pick the paymentsign showing QR code label up, rotate it, and ensure the QR code faces you.", + "Catch the small paymentsign for mobile payments with the left arm, then rotate it to make the QR code visible.", + "Grab the QR code paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to take the paymentsign with tilted rectangular panel and turn it until the QR code faces you", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Grab the beige paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Lift the stand-up paymentsign with rectangular top from the table, turning it QR code forward.", + "Catch the small paymentsign for mobile payments using the left arm, pick it up, and turn it to face the QR code.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Catch the paymentsign resting on angled base, lift, and rotate to align the qrcode to you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Catch the paymentsign showing QR code label, raise it, and turn it so the QR code faces you", + "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front", + "Lift the stand-up paymentsign with rectangular top and orient its QR code toward you with the left arm.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Take the smooth beige paymentsign, raise it, and make the qrcode face you.", + "Employ the left arm to seize the compact paymentsign for scanning payments, raise it, and rotate it QR-forward", + "Use the left arm to grab the stand-up paymentsign with rectangular top and point its QR code toward you.", + "Pick the QR code paymentsign up and turn its QR code toward you using the left arm.", + "Lift the paymentsign with blue and white text with the left arm, then rotate it to make the qrcode visible.", + "Using the left arm, catch the paymentsign resting on angled base and rotate it to face the QR code.", + "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Use the left arm to pick the beige paymentsign and turn it towards you.", + "Lift the paymentsign showing QR code label from the table and turn it to face you.", + "Pick up the paymentsign showing QR code label and adjust its position to face the qrcode towards you.", + "Grab the rectangular paymentsign with colorful top using the left arm, then rotate the QR code to face forward.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.", + "Find the small paymentsign for mobile payments, grab it, and turn it towards yourself.", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Use the left arm to grab the QR code paymentsign, lift, and turn it QR code forward", + "Lift the paymentsign with tilted rectangular panel and rotate until its qrcode faces you.", + "Use the left arm to grab the beige paymentsign with printed details and rotate QR code towards you.", + "Grab the beige paymentsign with printed details with the left arm, then rotate it to face yourself.", + "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the paymentsign with blue and white text, rotate, and face the QR code towards you.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it so the code faces you.", + "Slide the compact paymentsign for scanning payments off the table and turn it to face you.", + "Grab the paymentsign with tilted rectangular panel, pick it up, and turn its qrcode toward you.", + "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the paymentsign showing QR code label and rotate it until the QR faces forward", + "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.", + "Locate the QR code paymentsign, pick it up, and adjust its angle.", + "Use the left arm to lift the smooth beige paymentsign from the table and face the qrcode.", + "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.", + "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.", + "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.", + "Catch the beige paymentsign with the left arm, then rotate it to make the QR code visible.", + "Grab the rectangular paymentsign with colorful top using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to take the paymentsign resting on angled base and turn it until the QR code faces you", + "Take the paymentsign showing QR code label from the table, rotating it QR code toward you." + ], + "unseen": [ + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode13.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..9782634c2c6adb36daf28604d99321628abdfad1 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and point its QR code toward you.", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Lift the small paymentsign for mobile payments and orient its QR code toward you with the right arm.", + "Grab the paymentsign showing QR code label using the right arm, lift, and rotate until QR code faces you.", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to view the qrcode.", + "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.", + "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.", + "Pick the beige paymentsign up and turn its QR code toward you using the right arm.", + "Catch the beige paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the smooth beige paymentsign with the right arm, then rotate it to make the QR code visible.", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Locate the paymentsign with blue and white text, pick it up, and adjust its angle.", + "Use the right arm to take the QR code paymentsign and turn it until the QR code faces you", + "Use the right arm to grab the QR code paymentsign and rotate the qrcode to face you.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Use the right arm to grab the smooth beige paymentsign and rotate QR code towards you.", + "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you", + "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Grab the small paymentsign for mobile payments using the right arm, then rotate it until the qrcode faces you.", + "Lift the beige paymentsign from the table and turn it to face you.", + "Lift the beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you", + "Lift the QR code paymentsign and rotate until its qrcode faces you.", + "Slide the beige paymentsign off the table and turn it to face you.", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Pick up the compact paymentsign for scanning payments and rotate it so the QR code faces you", + "Employ the right arm to seize the paymentsign with blue and white text, raise it, and rotate it QR-forward", + "Catch the paymentsign with tilted rectangular panel, lift, and rotate to align the qrcode to you.", + "Grab the beige paymentsign with the right arm, then rotate it to face yourself.", + "Catch and lift the beige paymentsign with printed details, then turn it to show the QR code.", + "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, rotate, and face the QR code towards you.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the paymentsign showing QR code label, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Using the right arm, catch the paymentsign resting on angled base and rotate it to face the QR code.", + "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Grab the beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.", + "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.", + "Use the right arm to pick the QR code paymentsign and turn it towards you.", + "Catch the paymentsign with tilted rectangular panel off the table and rotate its qrcode to you.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you", + "Use the right arm to lift the smooth beige paymentsign from the table and face the qrcode.", + "Use the right arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward", + "Use the right arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Use the right arm to grab the beige paymentsign and point its QR code toward you.", + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the right arm.", + "Grab the paymentsign resting on angled base using the right arm, lift, and rotate until QR code faces you.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to view the qrcode.", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to show the QR code.", + "Catch the smooth beige paymentsign, lift it, and adjust its QR code to face you.", + "Pick the beige paymentsign up and turn its QR code toward you using the right arm.", + "Catch the QR code paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with tilted rectangular panel with the right arm, then rotate it to make the QR code visible.", + "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.", + "Locate the paymentsign with blue and white text, pick it up, and adjust its angle.", + "Use the right arm to take the stand-up paymentsign with rectangular top and turn it until the QR code faces you", + "Use the right arm to grab the beige paymentsign and rotate the qrcode to face you.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.", + "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.", + "Use the right arm to grab the QR code paymentsign and rotate QR code towards you.", + "Lift the QR code paymentsign from the surface and adjust its angle towards you", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Pick the smooth beige paymentsign up, then rotate to make its qrcode visible.", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate it until the qrcode faces you.", + "Lift the QR code paymentsign from the table and turn it to face you.", + "Lift the paymentsign resting on angled base with the right arm, then rotate it to make the qrcode visible.", + "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you", + "Lift the beige paymentsign and rotate until its qrcode faces you.", + "Slide the small paymentsign for mobile payments off the table and turn it to face you.", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Pick up the rectangular paymentsign with colorful top and rotate it so the QR code faces you", + "Employ the right arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward", + "Catch the paymentsign with blue and white text, lift, and rotate to align the qrcode to you.", + "Grab the small paymentsign for mobile payments with the right arm, then rotate it to face yourself.", + "Catch and lift the paymentsign resting on angled base, then turn it to show the QR code.", + "Lift the paymentsign resting on angled base from the table, turning it QR code forward.", + "Use the right arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate it until the QR faces forward", + "Using the right arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Grab the paymentsign with tilted rectangular panel using the right arm, then rotate the QR code to face forward.", + "Catch the QR code paymentsign, lift it, and rotate it QR code facing.", + "Take the paymentsign with blue and white text from the table, rotating it QR code toward you.", + "Use the right arm to pick the compact paymentsign for scanning payments and turn it towards you.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Lift the paymentsign with blue and white text from the table and rotate it towards you", + "Use the right arm to lift the small paymentsign for mobile payments from the table and face the qrcode.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward", + "Use the right arm to lift the beige paymentsign with printed details and rotate it QR code toward you." + ], + "unseen": [ + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode14.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..e2193c77b11c0b2f8b1a21d544b45642e44a2222 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the paymentsign with glossy blue panel and rotate QR code towards you.", + "Catch the smooth surface paymentsign, lift it, and rotate it QR code facing.", + "Pick up the small glossy paymentsign and rotate it so the QR code faces you", + "Grab the small paymentsign with stand with the left arm, then rotate it to face yourself.", + "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.", + "Catch the paymentsign with printed QR codes, raise it, and turn it so the QR code faces you", + "Catch the small paymentsign with stand with the left arm, then rotate it to make the QR code visible.", + "Lift the tabletop paymentsign and rotate it until the QR code faces you.", + "Grab the small glossy paymentsign using the left arm, then rotate the QR code to face forward.", + "Find the paymentsign with glossy blue panel, grab it, and turn it towards yourself.", + "Catch the rectangular plastic paymentsign off the table and rotate its qrcode to you.", + "Pick the paymentsign with angled black stand up, then rotate to make its qrcode visible.", + "Grab the blue and white rectangular paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Grab the blue and white paymentsign, pick it up, and turn its qrcode toward you.", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Use the left arm to take the paymentsign with glossy blue panel and turn it until the QR code faces you", + "Take the smooth surface paymentsign, raise it, and make the qrcode face you.", + "Locate the paymentsign for scanning QR codes, pick it up, and adjust its angle.", + "Use the left arm to grab the paymentsign with printed QR codes, lift, and turn it QR code forward", + "Employ the left arm to seize the rectangular plastic paymentsign with codes, raise it, and rotate it QR-forward", + "Take the rectangular plastic paymentsign, lift it, and orient it so the QR faces you", + "Lift the small paymentsign with stand and rotate until its qrcode faces you.", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the small glossy paymentsign and rotate it QR code toward you.", + "Lift the tabletop paymentsign from the table and turn it to face you.", + "Pick up the paymentsign with angled black stand and adjust its position to face the qrcode towards you.", + "Take the small paymentsign with stand from the table, rotating it QR code toward you.", + "Use the left arm to pick the rectangular plastic paymentsign with codes and turn it towards you.", + "Use the left arm to lift the smooth surface paymentsign from the table and face the qrcode.", + "Catch the rectangular plastic paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the small glossy paymentsign and point its QR code toward you.", + "Lift the small glossy paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Catch the smooth surface paymentsign, lift it, and adjust its QR code to face you.", + "Using the left arm, catch the paymentsign with angled black stand and rotate it to face the QR code.", + "Lift the paymentsign for scanning QR codes from the table and rotate it towards you", + "Use the left arm to grab the blue and white rectangular paymentsign and rotate it until the QR faces forward", + "Grab the small glossy paymentsign, lift it from the table, and rotate it QR front", + "Lift the rectangular plastic paymentsign and orient its QR code toward you with the left arm.", + "Catch the rectangular plastic paymentsign, lift, and rotate to align the qrcode to you.", + "Pick the paymentsign with printed QR codes up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the tabletop paymentsign, rotate, and face the QR code towards you.", + "Catch the paymentsign for scanning QR codes, lift it, and turn the qrcode towards you.", + "Lift the small glossy paymentsign from the table and rotate it so the code faces you.", + "Lift the paymentsign with angled black stand and rotate for its qrcode to face you.", + "Catch and lift the rectangular plastic paymentsign with codes, then turn it to show the QR code.", + "Lift the rectangular plastic paymentsign with codes from the table, turning it QR code forward.", + "Use the left arm to grab the blue and white paymentsign and rotate the qrcode to face you.", + "Grab the rectangular plastic paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign for scanning QR codes from the surface and adjust its angle towards you", + "Use the left arm to grab the paymentsign with angled black stand and rotate QR code towards you.", + "Catch the smooth surface paymentsign, lift it, and rotate it QR code facing.", + "Pick up the paymentsign with printed QR codes and rotate it so the QR code faces you", + "Grab the paymentsign with printed QR codes with the left arm, then rotate it to face yourself.", + "Catch the small glossy paymentsign, pick it up, and rotate to show the QR code.", + "Catch the small paymentsign with stand, raise it, and turn it so the QR code faces you", + "Catch the rectangular plastic paymentsign with codes with the left arm, then rotate it to make the QR code visible.", + "Lift the small paymentsign with stand and rotate it until the QR code faces you.", + "Grab the paymentsign with angled black stand using the left arm, then rotate the QR code to face forward.", + "Find the rectangular plastic paymentsign, grab it, and turn it towards yourself.", + "Catch the paymentsign for scanning QR codes off the table and rotate its qrcode to you.", + "Pick the small paymentsign with stand up, then rotate to make its qrcode visible.", + "Grab the small paymentsign with stand using the left arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign for scanning QR codes, pick it up, and turn its qrcode toward you.", + "Slide the paymentsign with glossy blue panel off the table and turn it to face you.", + "Use the left arm to take the blue and white rectangular paymentsign and turn it until the QR code faces you", + "Take the paymentsign for scanning QR codes, raise it, and make the qrcode face you.", + "Locate the rectangular plastic paymentsign with codes, pick it up, and adjust its angle.", + "Use the left arm to grab the smooth surface paymentsign, lift, and turn it QR code forward", + "Employ the left arm to seize the paymentsign with angled black stand, raise it, and rotate it QR-forward", + "Take the rectangular plastic paymentsign with codes, lift it, and orient it so the QR faces you", + "Lift the blue and white paymentsign and rotate until its qrcode faces you.", + "Pick the small glossy paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the smooth surface paymentsign and rotate it QR code toward you.", + "Lift the smooth surface paymentsign from the table and turn it to face you.", + "Pick up the blue and white rectangular paymentsign and adjust its position to face the qrcode towards you.", + "Take the blue and white rectangular paymentsign from the table, rotating it QR code toward you.", + "Use the left arm to pick the smooth surface paymentsign and turn it towards you.", + "Use the left arm to lift the blue and white paymentsign from the table and face the qrcode.", + "Catch the small glossy paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the paymentsign with angled black stand and point its QR code toward you.", + "Lift the rectangular plastic paymentsign with codes with the left arm, then rotate it to make the qrcode visible.", + "Catch the small glossy paymentsign, lift it, and adjust its QR code to face you.", + "Using the left arm, catch the blue and white rectangular paymentsign and rotate it to face the QR code.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Use the left arm to grab the smooth surface paymentsign and rotate it until the QR faces forward", + "Grab the paymentsign with glossy blue panel, lift it from the table, and rotate it QR front", + "Lift the rectangular plastic paymentsign and orient its QR code toward you with the left arm.", + "Catch the paymentsign for scanning QR codes, lift, and rotate to align the qrcode to you.", + "Pick the small glossy paymentsign up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the small paymentsign with stand, rotate, and face the QR code towards you.", + "Catch the rectangular plastic paymentsign, lift it, and turn the qrcode towards you.", + "Lift the blue and white rectangular paymentsign from the table and rotate it so the code faces you.", + "Lift the rectangular plastic paymentsign and rotate for its qrcode to face you.", + "Catch and lift the blue and white paymentsign, then turn it to show the QR code.", + "Lift the paymentsign with glossy blue panel from the table, turning it QR code forward.", + "Use the left arm to grab the rectangular plastic paymentsign and rotate the qrcode to face you.", + "Grab the paymentsign with angled black stand using the left arm, lift, and rotate until QR code faces you.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to view the qrcode.", + "Lift the rectangular plastic paymentsign with codes from the surface and adjust its angle towards you" + ], + "unseen": [ + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode15.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..b9b736ea3575a24439d80e4729947f44eb4fa2ff --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Catch and lift the rectangular paymentsign with colorful top, then turn it to show the QR code.", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Slide the rectangular paymentsign with colorful top off the table and turn it to face you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Catch the paymentsign resting on angled base off the table and rotate its qrcode to you.", + "Use the left arm to grab the small paymentsign for mobile payments and rotate QR code towards you.", + "Pick the beige paymentsign with printed details up, then rotate to make its qrcode visible.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Use the left arm to lift the rectangular paymentsign with colorful top and rotate it QR code toward you.", + "Grab the rectangular paymentsign with colorful top, lift it from the table, and rotate it QR front", + "Catch the beige paymentsign with printed details, pick it up, and rotate to show the QR code.", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the compact paymentsign for scanning payments and rotate the qrcode to face you.", + "Catch the small paymentsign for mobile payments with the left arm, then rotate it to make the QR code visible.", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Find the QR code paymentsign, grab it, and turn it towards yourself.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.", + "Use the left arm to grab the smooth beige paymentsign and point its QR code toward you.", + "Grab the beige paymentsign with printed details with the left arm, then rotate it to face yourself.", + "Lift the stand-up paymentsign with rectangular top and orient its QR code toward you with the left arm.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you", + "Employ the left arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Pick up the small paymentsign for mobile payments and adjust its position to face the qrcode towards you.", + "Grab the paymentsign with blue and white text using the left arm, lift, and rotate until QR code faces you.", + "Catch the beige paymentsign, lift it, and adjust its QR code to face you.", + "Locate the small paymentsign for mobile payments, pick it up, and adjust its angle.", + "Use the left arm to lift the beige paymentsign from the table and face the qrcode.", + "Catch the paymentsign with tilted rectangular panel using the left arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Use the left arm to pick the QR code paymentsign and turn it towards you.", + "Take the QR code paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign showing QR code label from the table, turning it QR code forward.", + "Use the left arm to take the paymentsign showing QR code label and turn it until the QR code faces you", + "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the left arm.", + "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you", + "Use the left arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Lift the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the qrcode visible.", + "Grab the stand-up paymentsign with rectangular top using the left arm, then rotate the QR code to face forward.", + "Grab the smooth beige paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Use the left arm to grab the compact paymentsign for scanning payments, rotate, and face the QR code towards you.", + "Catch the stand-up paymentsign with rectangular top, lift it, and turn the qrcode towards you.", + "Using the left arm, catch the beige paymentsign with printed details and rotate it to face the QR code.", + "Catch the QR code paymentsign, raise it, and turn it so the QR code faces you", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Catch and lift the stand-up paymentsign with rectangular top, then turn it to show the QR code.", + "Take the smooth beige paymentsign, raise it, and make the qrcode face you.", + "Slide the compact paymentsign for scanning payments off the table and turn it to face you.", + "Use the left arm to grab the smooth beige paymentsign, lift, and turn it QR code forward", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Use the left arm to grab the smooth beige paymentsign and rotate QR code towards you.", + "Pick the beige paymentsign up, then rotate to make its qrcode visible.", + "Take the stand-up paymentsign with rectangular top, lift it, and orient it so the QR faces you", + "Use the left arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Grab the beige paymentsign with printed details, lift it from the table, and rotate it QR front", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to show the QR code.", + "Catch the stand-up paymentsign with rectangular top, lift it, and rotate it QR code facing.", + "Pick the paymentsign showing QR code label up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate the qrcode to face you.", + "Catch the rectangular paymentsign with colorful top with the left arm, then rotate it to make the QR code visible.", + "Lift the small paymentsign for mobile payments and rotate for its qrcode to face you.", + "Find the beige paymentsign with printed details, grab it, and turn it towards yourself.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.", + "Grab the beige paymentsign with printed details, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.", + "Use the left arm to grab the smooth beige paymentsign and point its QR code toward you.", + "Grab the paymentsign showing QR code label with the left arm, then rotate it to face yourself.", + "Lift the rectangular paymentsign with colorful top and orient its QR code toward you with the left arm.", + "Lift the smooth beige paymentsign from the table and rotate it towards you", + "Employ the left arm to seize the paymentsign showing QR code label, raise it, and rotate it QR-forward", + "Lift the compact paymentsign for scanning payments and rotate it until the QR code faces you.", + "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.", + "Grab the paymentsign with tilted rectangular panel using the left arm, lift, and rotate until QR code faces you.", + "Catch the compact paymentsign for scanning payments, lift it, and adjust its QR code to face you.", + "Locate the beige paymentsign with printed details, pick it up, and adjust its angle.", + "Use the left arm to lift the smooth beige paymentsign from the table and face the qrcode.", + "Catch the paymentsign with blue and white text using the left arm, pick it up, and turn it to face the QR code.", + "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.", + "Use the left arm to pick the paymentsign with blue and white text and turn it towards you.", + "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.", + "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.", + "Use the left arm to take the QR code paymentsign and turn it until the QR code faces you", + "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the left arm.", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Use the left arm to grab the paymentsign with blue and white text and rotate it until the QR faces forward", + "Lift the paymentsign with blue and white text with the left arm, then rotate it to make the qrcode visible.", + "Grab the small paymentsign for mobile payments using the left arm, then rotate the QR code to face forward.", + "Grab the small paymentsign for mobile payments using the left arm, then rotate it until the qrcode faces you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Use the left arm to grab the small paymentsign for mobile payments, rotate, and face the QR code towards you.", + "Catch the compact paymentsign for scanning payments, lift it, and turn the qrcode towards you.", + "Using the left arm, catch the beige paymentsign with printed details and rotate it to face the QR code.", + "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you" + ], + "unseen": [ + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode16.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..5924cbb832b0484348edc0028e5044f96b0086a1 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the rectangular paymentsign with stand, raise it, and make the qrcode face you.", + "Catch the paymentsign with QR code area, lift it, and rotate it QR code facing.", + "Use the right arm to grab the white paymentsign with raised base and rotate the qrcode to face you.", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the paymentsign, lift, and turn it QR code forward", + "Lift the yellow and white payment display from the surface and adjust its angle towards you", + "Take the rectangular paymentsign with stand, lift it, and orient it so the QR faces you", + "Find the white rectangular paymentsign with yellow details, grab it, and turn it towards yourself.", + "Locate the white rectangular paymentsign with yellow details, pick it up, and adjust its angle.", + "Grab the tabletop paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the tabletop paymentsign, rotate, and face the QR code towards you.", + "Slide the yellow panel white paymentsign off the table and turn it to face you.", + "Catch the rectangular paymentsign with stand, pick it up, and rotate to show the QR code.", + "Lift the yellow panel white paymentsign from the table and rotate it towards you", + "Take the yellow and white payment display from the table, rotating it QR code toward you.", + "Using the right arm, catch the paymentsign with QR code area and rotate it to face the QR code.", + "Catch the plastic smooth paymentsign, raise it, and turn it so the QR code faces you", + "Employ the right arm to seize the white paymentsign with raised base, raise it, and rotate it QR-forward", + "Lift the paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Lift the plastic smooth paymentsign from the table and rotate it so the code faces you.", + "Lift the yellow and white payment display and orient its QR code toward you with the right arm.", + "Use the right arm to grab the yellow and white payment display and rotate QR code towards you.", + "Pick up the paymentsign with QR code area and rotate it so the QR code faces you", + "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.", + "Use the right arm to take the plastic smooth paymentsign and turn it until the QR code faces you", + "Pick the sign with yellow payment section up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign with QR code area with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the yellow panel white paymentsign and rotate it until the QR faces forward", + "Use the right arm to pick the white stand sign and turn it towards you.", + "Catch the yellow and white payment display using the right arm, pick it up, and turn it to face the QR code.", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Grab the smooth plastic paymentsign with QR code, pick it up, and turn its qrcode toward you.", + "Catch the sign with yellow payment section, lift it, and adjust its QR code to face you.", + "Grab the paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Use the right arm to lift the paymentsign with QR code area from the table and face the qrcode.", + "Use the right arm to grab the yellow and white payment display and point its QR code toward you.", + "Lift the rectangular paymentsign with stand and rotate it until the QR code faces you.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Catch the yellow and white payment display, pick it up, and rotate to view the qrcode.", + "Lift the smooth plastic paymentsign with QR code from the table, turning it QR code forward.", + "Catch the yellow panel white paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to lift the yellow panel white paymentsign and rotate it QR code toward you.", + "Pick the paymentsign up and turn its QR code toward you using the right arm.", + "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.", + "Catch the plastic smooth paymentsign with the right arm, then rotate it to make the QR code visible.", + "Catch and lift the sign with yellow payment section, then turn it to show the QR code.", + "Lift the plastic smooth paymentsign and rotate for its qrcode to face you.", + "Grab the paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the sign with yellow payment section off the table and rotate its qrcode to you.", + "Take the white paymentsign with raised base, raise it, and make the qrcode face you.", + "Catch the paymentsign with QR code area, lift it, and rotate it QR code facing.", + "Use the right arm to grab the plastic smooth paymentsign and rotate the qrcode to face you.", + "Catch the white rectangular paymentsign with yellow details, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the rectangular paymentsign with stand, lift, and turn it QR code forward", + "Lift the white paymentsign with raised base from the surface and adjust its angle towards you", + "Take the paymentsign with QR code area, lift it, and orient it so the QR faces you", + "Find the rectangular paymentsign with stand, grab it, and turn it towards yourself.", + "Locate the white rectangular paymentsign with yellow details, pick it up, and adjust its angle.", + "Grab the white stand sign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the white stand sign, rotate, and face the QR code towards you.", + "Slide the smooth plastic paymentsign with QR code off the table and turn it to face you.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with QR code area from the table and rotate it towards you", + "Take the yellow and white payment display from the table, rotating it QR code toward you.", + "Using the right arm, catch the plastic smooth paymentsign and rotate it to face the QR code.", + "Catch the tabletop paymentsign, raise it, and turn it so the QR code faces you", + "Employ the right arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Lift the tabletop paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Lift the white paymentsign with raised base from the table and rotate it so the code faces you.", + "Lift the paymentsign and orient its QR code toward you with the right arm.", + "Use the right arm to grab the white paymentsign with raised base and rotate QR code towards you.", + "Pick up the white stand sign and rotate it so the QR code faces you", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Use the right arm to take the white paymentsign with raised base and turn it until the QR code faces you", + "Pick the plastic smooth paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the sign with yellow payment section with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the yellow panel white paymentsign and rotate it until the QR faces forward", + "Use the right arm to pick the smooth plastic paymentsign with QR code and turn it towards you.", + "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Lift the smooth plastic paymentsign with QR code from the table and turn it to face you.", + "Grab the smooth plastic paymentsign with QR code, pick it up, and turn its qrcode toward you.", + "Catch the yellow panel white paymentsign, lift it, and adjust its QR code to face you.", + "Grab the white paymentsign with raised base using the right arm, then rotate it until the qrcode faces you.", + "Pick the yellow panel white paymentsign up, then rotate to make its qrcode visible.", + "Use the right arm to lift the white paymentsign with raised base from the table and face the qrcode.", + "Use the right arm to grab the tabletop paymentsign and point its QR code toward you.", + "Lift the yellow panel white paymentsign and rotate it until the QR code faces you.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign with QR code area from the table, turning it QR code forward.", + "Catch the white stand sign, lift, and rotate to align the qrcode to you.", + "Use the right arm to lift the paymentsign with QR code area and rotate it QR code toward you.", + "Pick the paymentsign up and turn its QR code toward you using the right arm.", + "Pick up the plastic smooth paymentsign and adjust its position to face the qrcode towards you.", + "Catch the sign with yellow payment section with the right arm, then rotate it to make the QR code visible.", + "Catch and lift the white rectangular paymentsign with yellow details, then turn it to show the QR code.", + "Lift the yellow panel white paymentsign and rotate for its qrcode to face you.", + "Grab the plastic smooth paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the rectangular paymentsign with stand off the table and rotate its qrcode to you." + ], + "unseen": [ + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode17.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..b7eb1329361e42f37326a0a076e43643cb27713b --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the rectangular plastic paymentsign with codes and rotate the qrcode to face you.", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign for scanning QR codes from the table and turn it to face you.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to show the QR code.", + "Grab the paymentsign for scanning QR codes using the right arm, lift, and rotate until QR code faces you.", + "Catch the blue and white paymentsign, lift it, and adjust its QR code to face you.", + "Using the right arm, catch the blue and white rectangular paymentsign and rotate it to face the QR code.", + "Use the right arm to grab the rectangular plastic paymentsign with codes and point its QR code toward you.", + "Catch the blue and white rectangular paymentsign, raise it, and turn it so the QR code faces you", + "Grab the rectangular plastic paymentsign, lift it from the table, and rotate it QR front", + "Use the right arm to grab the small paymentsign with stand and rotate QR code towards you.", + "Catch the paymentsign with glossy blue panel off the table and rotate its qrcode to you.", + "Grab the rectangular plastic paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the paymentsign for scanning QR codes from the table and face the qrcode.", + "Catch the small glossy paymentsign, lift, and rotate to align the qrcode to you.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Take the smooth surface paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign with glossy blue panel with the right arm, then rotate it to make the qrcode visible.", + "Catch the blue and white rectangular paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Employ the right arm to seize the small glossy paymentsign, raise it, and rotate it QR-forward", + "Take the paymentsign with printed QR codes, raise it, and make the qrcode face you.", + "Pick the blue and white rectangular paymentsign up, then rotate to make its qrcode visible.", + "Grab the paymentsign with glossy blue panel using the right arm, then rotate it until the qrcode faces you.", + "Pick up the small paymentsign with stand and adjust its position to face the qrcode towards you.", + "Lift the paymentsign with glossy blue panel from the table, turning it QR code forward.", + "Lift the small paymentsign with stand and orient its QR code toward you with the right arm.", + "Use the right arm to grab the paymentsign with angled black stand and rotate it until the QR faces forward", + "Use the right arm to lift the smooth surface paymentsign and rotate it QR code toward you.", + "Lift the blue and white paymentsign and rotate for its qrcode to face you.", + "Use the right arm to pick the rectangular plastic paymentsign and turn it towards you.", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Pick the blue and white rectangular paymentsign up, rotate it, and ensure the QR code faces you.", + "Pick up the paymentsign with glossy blue panel and rotate it so the QR code faces you", + "Catch the paymentsign with printed QR codes, lift it, and rotate it QR code facing.", + "Lift the blue and white paymentsign from the table and rotate it so the code faces you.", + "Catch the paymentsign with printed QR codes, pick it up, and rotate to view the qrcode.", + "Locate the rectangular plastic paymentsign, pick it up, and adjust its angle.", + "Find the rectangular plastic paymentsign with codes, grab it, and turn it towards yourself.", + "Lift the rectangular plastic paymentsign with codes and rotate until its qrcode faces you.", + "Catch the paymentsign with printed QR codes with the right arm, then rotate it to make the QR code visible.", + "Lift the small paymentsign with stand from the surface and adjust its angle towards you", + "Use the right arm to take the paymentsign with angled black stand and turn it until the QR code faces you", + "Pick the blue and white rectangular paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the rectangular plastic paymentsign, rotate, and face the QR code towards you.", + "Lift the small paymentsign with stand from the table and rotate it towards you", + "Grab the paymentsign with glossy blue panel using the right arm, then rotate the QR code to face forward.", + "Lift the paymentsign with angled black stand and rotate it until the QR code faces you.", + "Use the right arm to grab the paymentsign with angled black stand, lift, and turn it QR code forward", + "Catch and lift the small paymentsign with stand, then turn it to show the QR code.", + "Slide the rectangular plastic paymentsign off the table and turn it to face you.", + "Use the right arm to grab the small glossy paymentsign and rotate the qrcode to face you.", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the smooth surface paymentsign from the table and turn it to face you.", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to show the QR code.", + "Grab the paymentsign with printed QR codes using the right arm, lift, and rotate until QR code faces you.", + "Catch the small glossy paymentsign, lift it, and adjust its QR code to face you.", + "Using the right arm, catch the paymentsign with angled black stand and rotate it to face the QR code.", + "Use the right arm to grab the smooth surface paymentsign and point its QR code toward you.", + "Catch the paymentsign for scanning QR codes, raise it, and turn it so the QR code faces you", + "Grab the rectangular plastic paymentsign with codes, lift it from the table, and rotate it QR front", + "Use the right arm to grab the smooth surface paymentsign and rotate QR code towards you.", + "Catch the smooth surface paymentsign off the table and rotate its qrcode to you.", + "Grab the blue and white paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the rectangular plastic paymentsign from the table and face the qrcode.", + "Catch the paymentsign with printed QR codes, lift, and rotate to align the qrcode to you.", + "Take the paymentsign for scanning QR codes, lift it, and orient it so the QR faces you", + "Take the smooth surface paymentsign from the table, rotating it QR code toward you.", + "Lift the small paymentsign with stand with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign for scanning QR codes using the right arm, pick it up, and turn it to face the QR code.", + "Employ the right arm to seize the paymentsign with angled black stand, raise it, and rotate it QR-forward", + "Take the smooth surface paymentsign, raise it, and make the qrcode face you.", + "Pick the blue and white rectangular paymentsign up, then rotate to make its qrcode visible.", + "Grab the rectangular plastic paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Pick up the paymentsign with glossy blue panel and adjust its position to face the qrcode towards you.", + "Lift the paymentsign for scanning QR codes from the table, turning it QR code forward.", + "Lift the paymentsign with angled black stand and orient its QR code toward you with the right arm.", + "Use the right arm to grab the blue and white paymentsign and rotate it until the QR faces forward", + "Use the right arm to lift the paymentsign with angled black stand and rotate it QR code toward you.", + "Lift the blue and white rectangular paymentsign and rotate for its qrcode to face you.", + "Use the right arm to pick the blue and white paymentsign and turn it towards you.", + "Catch the small glossy paymentsign, lift it, and turn the qrcode towards you.", + "Pick the smooth surface paymentsign up, rotate it, and ensure the QR code faces you.", + "Pick up the paymentsign with glossy blue panel and rotate it so the QR code faces you", + "Catch the small paymentsign with stand, lift it, and rotate it QR code facing.", + "Lift the paymentsign with angled black stand from the table and rotate it so the code faces you.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to view the qrcode.", + "Locate the paymentsign with angled black stand, pick it up, and adjust its angle.", + "Find the blue and white rectangular paymentsign, grab it, and turn it towards yourself.", + "Lift the blue and white rectangular paymentsign and rotate until its qrcode faces you.", + "Catch the blue and white rectangular paymentsign with the right arm, then rotate it to make the QR code visible.", + "Lift the small paymentsign with stand from the surface and adjust its angle towards you", + "Use the right arm to take the paymentsign with printed QR codes and turn it until the QR code faces you", + "Pick the paymentsign with glossy blue panel up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the small glossy paymentsign, rotate, and face the QR code towards you.", + "Lift the small glossy paymentsign from the table and rotate it towards you", + "Grab the paymentsign with glossy blue panel using the right arm, then rotate the QR code to face forward.", + "Lift the rectangular plastic paymentsign and rotate it until the QR code faces you.", + "Use the right arm to grab the small glossy paymentsign, lift, and turn it QR code forward", + "Catch and lift the blue and white paymentsign, then turn it to show the QR code.", + "Slide the tabletop paymentsign off the table and turn it to face you." + ], + "unseen": [ + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode18.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..34540d778d1edc807d0e7e313328f1b50b0a92e9 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the small black stand for payments, raise it, and make the qrcode face you.", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Catch the gray top with QR code, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the triangular stand with QR code and point its QR code toward you.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Use the right arm to lift the triangular stand with QR code from the table and face the qrcode.", + "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you", + "Use the right arm to pick the small payment stand with black base and turn it towards you.", + "Pick the gray top with QR code up and turn its QR code toward you using the right arm.", + "Slide the slanted gray panel for QR code scan off the table and turn it to face you.", + "Lift the tabletop-sized payment sign from the table and rotate it towards you", + "Using the right arm, catch the triangular stand with QR code and rotate it to face the QR code.", + "Catch the payment sign with green logo, lift, and rotate to align the qrcode to you.", + "Lift the gray slanted panel with text and rotate it until the QR code faces you.", + "Grab the tabletop-sized payment sign with the right arm, then rotate it to face yourself.", + "Use the right arm to take the small black stand for payments and turn it until the QR code faces you", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Lift the small black stand for payments from the table and turn it to face you.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Employ the right arm to seize the gray top with QR code, raise it, and rotate it QR-forward", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Find the gray slanted panel with text, grab it, and turn it towards yourself.", + "Grab the triangular stand with QR code using the right arm, then rotate the QR code to face forward.", + "Lift the tabletop-sized payment sign from the table, turning it QR code forward.", + "Catch the triangular stand with QR code using the right arm, pick it up, and turn it to face the QR code.", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Grab the black base with tilted gray panel using the right arm, lift, and rotate until QR code faces you.", + "Pick the triangular stand with QR code up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Use the right arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Catch and lift the triangular stand with QR code, then turn it to show the QR code.", + "Use the right arm to grab the payment sign with green logo, lift, and turn it QR code forward", + "Catch the tabletop-sized payment sign with the right arm, then rotate it to make the QR code visible.", + "Grab the tabletop-sized payment sign using the right arm, then rotate it until the qrcode faces you.", + "Catch the payment sign with green logo, lift it, and rotate it QR code facing.", + "Lift the tabletop-sized payment sign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the small black stand for payments and rotate QR code towards you.", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Pick up the small black stand for payments and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Lift the slanted gray panel for QR code scan and orient its QR code toward you with the right arm.", + "Use the right arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Take the tabletop-sized payment sign, raise it, and make the qrcode face you.", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Grab the gray top with QR code, pick it up, and turn its qrcode toward you.", + "Lift the gray slanted panel with text and rotate until its qrcode faces you.", + "Catch the black base with tilted gray panel, pick it up, and rotate to view the qrcode.", + "Catch the triangular stand with QR code, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the tabletop-sized payment sign and point its QR code toward you.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Use the right arm to lift the green payment logo on gray top from the table and face the qrcode.", + "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you", + "Use the right arm to pick the gray slanted panel with text and turn it towards you.", + "Pick the payment sign with angled face up and turn its QR code toward you using the right arm.", + "Slide the small payment stand with black base off the table and turn it to face you.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Using the right arm, catch the black base with tilted gray panel and rotate it to face the QR code.", + "Catch the tabletop-sized payment sign, lift, and rotate to align the qrcode to you.", + "Lift the payment sign with angled face and rotate it until the QR code faces you.", + "Grab the payment sign with green logo with the right arm, then rotate it to face yourself.", + "Use the right arm to take the payment sign with green logo and turn it until the QR code faces you", + "Pick the triangular stand with QR code up, then rotate to make its qrcode visible.", + "Catch the payment sign with angled face, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the gray top with QR code and rotate it until the QR faces forward", + "Lift the triangular stand with QR code from the table and turn it to face you.", + "Grab the black base with tilted gray panel, lift it from the table, and rotate it QR front", + "Employ the right arm to seize the slanted gray panel for QR code scan, raise it, and rotate it QR-forward", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Find the slanted gray panel for QR code scan, grab it, and turn it towards yourself.", + "Grab the green payment logo on gray top using the right arm, then rotate the QR code to face forward.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Catch the tabletop-sized payment sign using the right arm, pick it up, and turn it to face the QR code.", + "Take the black base with tilted gray panel, lift it, and orient it so the QR faces you", + "Grab the small black stand for payments using the right arm, lift, and rotate until QR code faces you.", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Lift the gray top with QR code from the table and rotate it so the code faces you.", + "Use the right arm to grab the triangular stand with QR code, rotate, and face the QR code towards you.", + "Catch and lift the slanted gray panel for QR code scan, then turn it to show the QR code.", + "Use the right arm to grab the gray slanted panel with text, lift, and turn it QR code forward", + "Catch the gray slanted panel with text with the right arm, then rotate it to make the QR code visible.", + "Grab the gray slanted panel with text using the right arm, then rotate it until the qrcode faces you.", + "Catch the payment sign with green logo, lift it, and rotate it QR code facing.", + "Lift the gray slanted panel with text with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the black base with tilted gray panel and rotate QR code towards you.", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Lift the paymentsign and orient its QR code toward you with the right arm.", + "Use the right arm to lift the paymentsign and rotate it QR code toward you.", + "Pick up the green payment logo on gray top and rotate it so the QR code faces you" + ], + "unseen": [ + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode19.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..cd2927ff66aafd6be86ca9305d57991c959eb0c9 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the white stand sign, rotate, and face the QR code towards you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to view the qrcode.", + "Catch the tabletop paymentsign off the table and rotate its qrcode to you.", + "Grab the yellow panel white paymentsign with the right arm, then rotate it to face yourself.", + "Pick the plastic smooth paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to lift the paymentsign from the table and face the qrcode.", + "Use the right arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Lift the white paymentsign with raised base and orient its QR code toward you with the right arm.", + "Catch the white paymentsign with raised base, lift it, and rotate it QR code facing.", + "Lift the paymentsign with QR code area from the table and turn it to face you.", + "Lift the smooth plastic paymentsign with QR code and rotate until its qrcode faces you.", + "Pick the yellow panel white paymentsign up, then rotate to make its qrcode visible.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate the qrcode to face you.", + "Take the sign with yellow payment section, raise it, and make the qrcode face you.", + "Catch and lift the white rectangular paymentsign with yellow details, then turn it to show the QR code.", + "Catch the white paymentsign with raised base, pick it up, and rotate to show the QR code.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Pick up the rectangular paymentsign with stand and rotate it so the QR code faces you", + "Grab the white paymentsign with raised base, lift it from the table, and rotate it QR front", + "Lift the white rectangular paymentsign with yellow details with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to pick the sign with yellow payment section and turn it towards you.", + "Pick the white paymentsign with raised base up and turn its QR code toward you using the right arm.", + "Catch the plastic smooth paymentsign with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the yellow and white payment display, lift, and turn it QR code forward", + "Catch the smooth plastic paymentsign with QR code, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Lift the sign with yellow payment section from the surface and adjust its angle towards you", + "Catch the rectangular paymentsign with stand, lift it, and adjust its QR code to face you.", + "Locate the yellow panel white paymentsign, pick it up, and adjust its angle.", + "Take the rectangular paymentsign with stand from the table, rotating it QR code toward you.", + "Lift the plastic smooth paymentsign and rotate for its qrcode to face you.", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Find the yellow and white payment display, grab it, and turn it towards yourself.", + "Grab the plastic smooth paymentsign using the right arm, then rotate the QR code to face forward.", + "Grab the paymentsign with QR code area, pick it up, and turn its qrcode toward you.", + "Grab the smooth plastic paymentsign with QR code using the right arm, then rotate it until the qrcode faces you.", + "Catch the yellow panel white paymentsign, raise it, and turn it so the QR code faces you", + "Grab the white rectangular paymentsign with yellow details using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the paymentsign and rotate it until the QR faces forward", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Lift the yellow and white payment display from the table and rotate it so the code faces you.", + "Use the right arm to take the white stand sign and turn it until the QR code faces you", + "Take the rectangular paymentsign with stand, lift it, and orient it so the QR faces you", + "Employ the right arm to seize the white rectangular paymentsign with yellow details, raise it, and rotate it QR-forward", + "Using the right arm, catch the yellow panel white paymentsign and rotate it to face the QR code.", + "Use the right arm to grab the white paymentsign with raised base and point its QR code toward you.", + "Catch the yellow and white payment display using the right arm, pick it up, and turn it to face the QR code.", + "Slide the rectangular paymentsign with stand off the table and turn it to face you.", + "Use the right arm to lift the paymentsign with QR code area and rotate it QR code toward you.", + "Use the right arm to grab the rectangular paymentsign with stand, rotate, and face the QR code towards you.", + "Catch the white stand sign, pick it up, and rotate to view the qrcode.", + "Catch the white paymentsign with raised base off the table and rotate its qrcode to you.", + "Grab the white paymentsign with raised base with the right arm, then rotate it to face yourself.", + "Pick the plastic smooth paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to lift the paymentsign with QR code area from the table and face the qrcode.", + "Use the right arm to grab the sign with yellow payment section and rotate QR code towards you.", + "Lift the yellow panel white paymentsign and orient its QR code toward you with the right arm.", + "Catch the white rectangular paymentsign with yellow details, lift it, and rotate it QR code facing.", + "Lift the plastic smooth paymentsign from the table and turn it to face you.", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Pick the white stand sign up, then rotate to make its qrcode visible.", + "Use the right arm to grab the yellow and white payment display and rotate the qrcode to face you.", + "Take the tabletop paymentsign, raise it, and make the qrcode face you.", + "Catch and lift the paymentsign with QR code area, then turn it to show the QR code.", + "Catch the rectangular paymentsign with stand, pick it up, and rotate to show the QR code.", + "Lift the white paymentsign with raised base from the table and rotate it towards you", + "Pick up the tabletop paymentsign and rotate it so the QR code faces you", + "Grab the white stand sign, lift it from the table, and rotate it QR front", + "Lift the paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to pick the paymentsign with QR code area and turn it towards you.", + "Pick the sign with yellow payment section up and turn its QR code toward you using the right arm.", + "Catch the sign with yellow payment section with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the smooth plastic paymentsign with QR code, lift, and turn it QR code forward", + "Catch the smooth plastic paymentsign with QR code, lift, and rotate to align the qrcode to you.", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Lift the yellow panel white paymentsign from the surface and adjust its angle towards you", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Take the plastic smooth paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Pick up the white rectangular paymentsign with yellow details and adjust its position to face the qrcode towards you.", + "Find the white stand sign, grab it, and turn it towards yourself.", + "Grab the white rectangular paymentsign with yellow details using the right arm, then rotate the QR code to face forward.", + "Grab the paymentsign with QR code area, pick it up, and turn its qrcode toward you.", + "Grab the white stand sign using the right arm, then rotate it until the qrcode faces you.", + "Catch the yellow panel white paymentsign, raise it, and turn it so the QR code faces you", + "Grab the plastic smooth paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Lift the yellow panel white paymentsign and rotate it until the QR code faces you.", + "Lift the yellow and white payment display from the table and rotate it so the code faces you.", + "Use the right arm to take the sign with yellow payment section and turn it until the QR code faces you", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Employ the right arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Using the right arm, catch the yellow panel white paymentsign and rotate it to face the QR code.", + "Use the right arm to grab the white stand sign and point its QR code toward you.", + "Catch the tabletop paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Use the right arm to lift the rectangular paymentsign with stand and rotate it QR code toward you." + ], + "unseen": [ + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode2.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..f30cab056465ddca54f1709f7c14666aafb63c32 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.", + "Lift the small payment stand with black base with the right arm, then rotate it to make the qrcode visible.", + "Pick the black base with tilted gray panel up, rotate it, and ensure the QR code faces you.", + "Lift the green payment logo on gray top and rotate for its qrcode to face you.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Lift the paymentsign from the table, turning it QR code forward.", + "Use the right arm to grab the triangular stand with QR code, rotate, and face the QR code towards you.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Catch the slanted gray panel for QR code scan, raise it, and turn it so the QR code faces you", + "Catch the tabletop-sized payment sign with the right arm, then rotate it to make the QR code visible.", + "Employ the right arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Find the payment sign with angled face, grab it, and turn it towards yourself.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Catch the tabletop-sized payment sign, lift, and rotate to align the qrcode to you.", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Use the right arm to grab the gray top with QR code and rotate the qrcode to face you.", + "Use the right arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Catch the small payment stand with black base, lift it, and adjust its QR code to face you.", + "Use the right arm to pick the gray slanted panel with text and turn it towards you.", + "Use the right arm to grab the triangular stand with QR code and point its QR code toward you.", + "Using the right arm, catch the black base with tilted gray panel and rotate it to face the QR code.", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Grab the small black stand for payments with the right arm, then rotate it to face yourself.", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Catch the payment sign with green logo off the table and rotate its qrcode to you.", + "Use the right arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Pick up the small black stand for payments and adjust its position to face the qrcode towards you.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Lift the green payment logo on gray top and rotate it until the QR code faces you.", + "Grab the black base with tilted gray panel using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to lift the slanted gray panel for QR code scan from the table and face the qrcode.", + "Grab the slanted gray panel for QR code scan using the right arm, lift, and rotate until QR code faces you.", + "Lift the small black stand for payments from the table and turn it to face you.", + "Catch the gray top with QR code using the right arm, pick it up, and turn it to face the QR code.", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Use the right arm to grab the tabletop-sized payment sign and rotate QR code towards you.", + "Lift the small payment stand with black base and orient its QR code toward you with the right arm.", + "Pick up the gray slanted panel with text and rotate it so the QR code faces you", + "Grab the payment sign with angled face using the right arm, then rotate the QR code to face forward.", + "Grab the black base with tilted gray panel, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the payment sign with angled face, lift, and turn it QR code forward", + "Lift the gray top with QR code from the table and rotate it towards you", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Lift the tabletop-sized payment sign and rotate until its qrcode faces you.", + "Catch the gray slanted panel with text, lift it, and turn the qrcode towards you.", + "Lift the payment sign with angled face with the right arm, then rotate it to make the qrcode visible.", + "Pick the tabletop-sized payment sign up, rotate it, and ensure the QR code faces you.", + "Lift the payment sign with green logo and rotate for its qrcode to face you.", + "Grab the gray slanted panel with text, lift it from the table, and rotate it QR front", + "Lift the payment sign with green logo from the table, turning it QR code forward.", + "Use the right arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the gray slanted panel with text and rotate it until the QR faces forward", + "Catch the green payment logo on gray top, raise it, and turn it so the QR code faces you", + "Catch the tabletop-sized payment sign with the right arm, then rotate it to make the QR code visible.", + "Employ the right arm to seize the triangular stand with QR code, raise it, and rotate it QR-forward", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Catch and lift the small payment stand with black base, then turn it to show the QR code.", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Catch the green payment logo on gray top, lift, and rotate to align the qrcode to you.", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Use the right arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Use the right arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Catch the small black stand for payments, lift it, and adjust its QR code to face you.", + "Use the right arm to pick the green payment logo on gray top and turn it towards you.", + "Use the right arm to grab the slanted gray panel for QR code scan and point its QR code toward you.", + "Using the right arm, catch the green payment logo on gray top and rotate it to face the QR code.", + "Pick the green payment logo on gray top up, then rotate to make its qrcode visible.", + "Grab the payment sign with angled face with the right arm, then rotate it to face yourself.", + "Lift the small payment stand with black base from the table and rotate it so the code faces you.", + "Lift the black base with tilted gray panel from the surface and adjust its angle towards you", + "Catch the triangular stand with QR code off the table and rotate its qrcode to you.", + "Use the right arm to take the triangular stand with QR code and turn it until the QR code faces you", + "Catch the payment sign with angled face, lift it, and rotate it QR code facing.", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Grab the small black stand for payments using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to lift the small black stand for payments from the table and face the qrcode.", + "Grab the green payment logo on gray top using the right arm, lift, and rotate until QR code faces you.", + "Lift the green payment logo on gray top from the table and turn it to face you.", + "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Slide the payment sign with angled face off the table and turn it to face you.", + "Use the right arm to grab the small payment stand with black base and rotate QR code towards you.", + "Lift the small black stand for payments and orient its QR code toward you with the right arm.", + "Pick up the paymentsign and rotate it so the QR code faces you", + "Grab the payment sign with angled face using the right arm, then rotate the QR code to face forward.", + "Grab the tabletop-sized payment sign, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the gray top with QR code, lift, and turn it QR code forward", + "Lift the paymentsign from the table and rotate it towards you", + "Catch the triangular stand with QR code, pick it up, and rotate to show the QR code.", + "Locate the payment sign with green logo, pick it up, and adjust its angle.", + "Lift the small black stand for payments and rotate until its qrcode faces you." + ], + "unseen": [ + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode20.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..4216bc94162e8679e2a5992462ae5116a9d750bd --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Find the stand-up paymentsign with rectangular top, grab it, and turn it towards yourself.", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Use the left arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.", + "Use the left arm to grab the beige paymentsign with printed details and rotate QR code towards you.", + "Use the left arm to lift the beige paymentsign with printed details from the table and face the qrcode.", + "Using the left arm, catch the stand-up paymentsign with rectangular top and rotate it to face the QR code.", + "Catch the QR code paymentsign, lift, and rotate to align the qrcode to you.", + "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to view the qrcode.", + "Use the left arm to pick the smooth beige paymentsign and turn it towards you.", + "Use the left arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front", + "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the paymentsign with tilted rectangular panel, raise it, and rotate it QR-forward", + "Slide the paymentsign with blue and white text off the table and turn it to face you.", + "Use the left arm to grab the small paymentsign for mobile payments, lift, and turn it QR code forward", + "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you", + "Lift the smooth beige paymentsign and rotate it until the QR code faces you.", + "Grab the compact paymentsign for scanning payments using the left arm, lift, and rotate until QR code faces you.", + "Take the beige paymentsign, lift it, and orient it so the QR faces you", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Grab the compact paymentsign for scanning payments using the left arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign with tilted rectangular panel from the table and turn it to face you.", + "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.", + "Catch the stand-up paymentsign with rectangular top, lift it, and rotate it QR code facing.", + "Use the left arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Grab the stand-up paymentsign with rectangular top with the left arm, then rotate it to face yourself.", + "Lift the compact paymentsign for scanning payments from the table and rotate it towards you", + "Lift the paymentsign with blue and white text and orient its QR code toward you with the left arm.", + "Locate the beige paymentsign, pick it up, and adjust its angle.", + "Catch the paymentsign with tilted rectangular panel with the left arm, then rotate it to make the QR code visible.", + "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you", + "Pick up the paymentsign with blue and white text and adjust its position to face the qrcode towards you.", + "Lift the smooth beige paymentsign and rotate for its qrcode to face you.", + "Lift the QR code paymentsign from the table, turning it QR code forward.", + "Catch the beige paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the beige paymentsign with printed details and point its QR code toward you.", + "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.", + "Use the left arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Lift the rectangular paymentsign with colorful top with the left arm, then rotate it to make the qrcode visible.", + "Grab the rectangular paymentsign with colorful top using the left arm, then rotate the QR code to face forward.", + "Lift the smooth beige paymentsign and rotate until its qrcode faces you.", + "Pick the QR code paymentsign up and turn its QR code toward you using the left arm.", + "Find the small paymentsign for mobile payments, grab it, and turn it towards yourself.", + "Catch the paymentsign with tilted rectangular panel off the table and rotate its qrcode to you.", + "Use the left arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it so the code faces you.", + "Use the left arm to grab the QR code paymentsign and rotate QR code towards you.", + "Use the left arm to lift the beige paymentsign from the table and face the qrcode.", + "Using the left arm, catch the beige paymentsign and rotate it to face the QR code.", + "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.", + "Take the paymentsign resting on angled base from the table, rotating it QR code toward you.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to view the qrcode.", + "Use the left arm to pick the stand-up paymentsign with rectangular top and turn it towards you.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate it until the QR faces forward", + "Grab the beige paymentsign, lift it from the table, and rotate it QR front", + "Catch the paymentsign with blue and white text, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the rectangular paymentsign with colorful top, raise it, and rotate it QR-forward", + "Slide the beige paymentsign off the table and turn it to face you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Grab the QR code paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you", + "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Grab the beige paymentsign with printed details using the left arm, then rotate it until the qrcode faces you.", + "Lift the rectangular paymentsign with colorful top from the table and turn it to face you.", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.", + "Use the left arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.", + "Lift the paymentsign with blue and white text from the table and rotate it towards you", + "Lift the paymentsign with blue and white text and orient its QR code toward you with the left arm.", + "Locate the rectangular paymentsign with colorful top, pick it up, and adjust its angle.", + "Catch the beige paymentsign with printed details with the left arm, then rotate it to make the QR code visible.", + "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you", + "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.", + "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.", + "Lift the stand-up paymentsign with rectangular top from the table, turning it QR code forward.", + "Catch the compact paymentsign for scanning payments using the left arm, pick it up, and turn it to face the QR code.", + "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.", + "Catch the smooth beige paymentsign, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the beige paymentsign with printed details and point its QR code toward you.", + "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Catch and lift the paymentsign showing QR code label, then turn it to show the QR code.", + "Use the left arm to take the small paymentsign for mobile payments and turn it until the QR code faces you", + "Lift the compact paymentsign for scanning payments with the left arm, then rotate it to make the qrcode visible.", + "Grab the paymentsign with blue and white text using the left arm, then rotate the QR code to face forward.", + "Lift the paymentsign with tilted rectangular panel and rotate until its qrcode faces you.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the left arm." + ], + "unseen": [ + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode21.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..cdd859a121893f43bab35cbc69474e99a764a585 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth plastic paymentsign with QR code and rotate until its qrcode faces you.", + "Use the right arm to lift the paymentsign and rotate it QR code toward you.", + "Use the right arm to take the yellow and white payment display and turn it until the QR code faces you", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate QR code towards you.", + "Pick up the white stand sign and adjust its position to face the qrcode towards you.", + "Catch the sign with yellow payment section, lift it, and turn the qrcode towards you.", + "Slide the smooth plastic paymentsign with QR code off the table and turn it to face you.", + "Catch the yellow and white payment display using the right arm, pick it up, and turn it to face the QR code.", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Take the white rectangular paymentsign with yellow details, raise it, and make the qrcode face you.", + "Use the right arm to pick the tabletop paymentsign and turn it towards you.", + "Pick the paymentsign up and turn its QR code toward you using the right arm.", + "Lift the yellow panel white paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Grab the sign with yellow payment section, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the yellow and white payment display, rotate, and face the QR code towards you.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Use the right arm to grab the sign with yellow payment section and rotate the qrcode to face you.", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Lift the white rectangular paymentsign with yellow details from the table and rotate it so the code faces you.", + "Use the right arm to grab the plastic smooth paymentsign, lift, and turn it QR code forward", + "Lift the smooth plastic paymentsign with QR code and orient its QR code toward you with the right arm.", + "Pick the white stand sign up, then rotate to make its qrcode visible.", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Catch the white paymentsign with raised base off the table and rotate its qrcode to you.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate it until the QR faces forward", + "Catch the plastic smooth paymentsign with the right arm, then rotate it to make the QR code visible.", + "Take the plastic smooth paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign with QR code area and rotate it until the QR code faces you.", + "Catch and lift the smooth plastic paymentsign with QR code, then turn it to show the QR code.", + "Catch the white paymentsign with raised base, pick it up, and rotate to view the qrcode.", + "Locate the yellow and white payment display, pick it up, and adjust its angle.", + "Lift the white paymentsign with raised base from the table, turning it QR code forward.", + "Catch the sign with yellow payment section, lift it, and rotate it QR code facing.", + "Grab the sign with yellow payment section using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the rectangular paymentsign with stand from the table and face the qrcode.", + "Pick up the tabletop paymentsign and rotate it so the QR code faces you", + "Using the right arm, catch the yellow and white payment display and rotate it to face the QR code.", + "Catch the white stand sign, lift, and rotate to align the qrcode to you.", + "Grab the white rectangular paymentsign with yellow details using the right arm, then rotate it until the qrcode faces you.", + "Employ the right arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Grab the smooth plastic paymentsign with QR code, lift it from the table, and rotate it QR front", + "Catch the white paymentsign with raised base, raise it, and turn it so the QR code faces you", + "Find the tabletop paymentsign, grab it, and turn it towards yourself.", + "Grab the plastic smooth paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the white stand sign and point its QR code toward you.", + "Catch the paymentsign with QR code area, pick it up, and rotate to show the QR code.", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Grab the paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the yellow panel white paymentsign, lift it, and adjust its QR code to face you.", + "Lift the sign with yellow payment section and rotate until its qrcode faces you.", + "Use the right arm to lift the white stand sign and rotate it QR code toward you.", + "Use the right arm to take the paymentsign with QR code area and turn it until the QR code faces you", + "Use the right arm to grab the yellow panel white paymentsign and rotate QR code towards you.", + "Pick up the white stand sign and adjust its position to face the qrcode towards you.", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Slide the paymentsign off the table and turn it to face you.", + "Catch the tabletop paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Pick the yellow and white payment display up, rotate it, and ensure the QR code faces you.", + "Lift the yellow panel white paymentsign from the surface and adjust its angle towards you", + "Take the tabletop paymentsign, raise it, and make the qrcode face you.", + "Use the right arm to pick the plastic smooth paymentsign and turn it towards you.", + "Pick the rectangular paymentsign with stand up and turn its QR code toward you using the right arm.", + "Lift the white stand sign with the right arm, then rotate it to make the qrcode visible.", + "Grab the plastic smooth paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it towards you", + "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate the qrcode to face you.", + "Lift the plastic smooth paymentsign and rotate for its qrcode to face you.", + "Lift the white paymentsign with raised base from the table and rotate it so the code faces you.", + "Use the right arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Lift the white rectangular paymentsign with yellow details and orient its QR code toward you with the right arm.", + "Pick the tabletop paymentsign up, then rotate to make its qrcode visible.", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Catch the white paymentsign with raised base off the table and rotate its qrcode to you.", + "Use the right arm to grab the paymentsign and rotate it until the QR faces forward", + "Catch the yellow and white payment display with the right arm, then rotate it to make the QR code visible.", + "Take the yellow and white payment display from the table, rotating it QR code toward you.", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Catch and lift the plastic smooth paymentsign, then turn it to show the QR code.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to view the qrcode.", + "Locate the yellow panel white paymentsign, pick it up, and adjust its angle.", + "Lift the yellow panel white paymentsign from the table, turning it QR code forward.", + "Catch the white paymentsign with raised base, lift it, and rotate it QR code facing.", + "Grab the paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the rectangular paymentsign with stand from the table and face the qrcode.", + "Pick up the smooth plastic paymentsign with QR code and rotate it so the QR code faces you", + "Using the right arm, catch the plastic smooth paymentsign and rotate it to face the QR code.", + "Catch the rectangular paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Grab the paymentsign with QR code area using the right arm, then rotate it until the qrcode faces you.", + "Employ the right arm to seize the plastic smooth paymentsign, raise it, and rotate it QR-forward", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Catch the tabletop paymentsign, raise it, and turn it so the QR code faces you", + "Find the white paymentsign with raised base, grab it, and turn it towards yourself.", + "Grab the white paymentsign with raised base with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the white stand sign and point its QR code toward you.", + "Catch the yellow and white payment display, pick it up, and rotate to show the QR code.", + "Lift the plastic smooth paymentsign from the table and turn it to face you.", + "Grab the tabletop paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the white paymentsign with raised base, lift it, and adjust its QR code to face you." + ], + "unseen": [ + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode22.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..01973d29962d15c70f1cb3421a12882672e07d98 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the beige paymentsign with printed details, lift it, and turn the qrcode towards you.", + "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to show the QR code.", + "Grab the paymentsign resting on angled base using the right arm, then rotate the QR code to face forward.", + "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the right arm.", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to view the qrcode.", + "Employ the right arm to seize the smooth beige paymentsign, raise it, and rotate it QR-forward", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the right arm.", + "Lift the paymentsign resting on angled base from the table and rotate it towards you", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Catch the compact paymentsign for scanning payments, lift it, and adjust its QR code to face you.", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Use the right arm to grab the beige paymentsign with printed details and point its QR code toward you.", + "Lift the QR code paymentsign from the surface and adjust its angle towards you", + "Use the right arm to lift the beige paymentsign from the table and face the qrcode.", + "Lift the small paymentsign for mobile payments and rotate for its qrcode to face you.", + "Pick the stand-up paymentsign with rectangular top up, then rotate to make its qrcode visible.", + "Lift the paymentsign showing QR code label from the table and turn it to face you.", + "Use the right arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Lift the smooth beige paymentsign from the table and rotate it so the code faces you.", + "Lift the compact paymentsign for scanning payments and rotate until its qrcode faces you.", + "Lift the smooth beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Locate the paymentsign with tilted rectangular panel, pick it up, and adjust its angle.", + "Grab the paymentsign with tilted rectangular panel with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the paymentsign showing QR code label, lift, and turn it QR code forward", + "Use the right arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Catch the smooth beige paymentsign off the table and rotate its qrcode to you.", + "Grab the paymentsign with tilted rectangular panel, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the paymentsign resting on angled base and rotate QR code towards you.", + "Catch the compact paymentsign for scanning payments, lift it, and rotate it QR code facing.", + "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Use the right arm to lift the rectangular paymentsign with colorful top and rotate it QR code toward you.", + "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.", + "Slide the paymentsign showing QR code label off the table and turn it to face you.", + "Find the smooth beige paymentsign, grab it, and turn it towards yourself.", + "Using the right arm, catch the QR code paymentsign and rotate it to face the QR code.", + "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign resting on angled base with the right arm, then rotate it to make the QR code visible.", + "Pick up the beige paymentsign and rotate it so the QR code faces you", + "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to pick the small paymentsign for mobile payments and turn it towards you.", + "Take the paymentsign resting on angled base, lift it, and orient it so the QR faces you", + "Grab the paymentsign with tilted rectangular panel using the right arm, lift, and rotate until QR code faces you.", + "Take the paymentsign with tilted rectangular panel, raise it, and make the qrcode face you.", + "Use the right arm to take the stand-up paymentsign with rectangular top and turn it until the QR code faces you", + "Catch the compact paymentsign for scanning payments, lift it, and turn the qrcode towards you.", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Grab the paymentsign showing QR code label using the right arm, then rotate the QR code to face forward.", + "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the right arm.", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Employ the right arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Pick the stand-up paymentsign with rectangular top up and turn its QR code toward you using the right arm.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Catch the paymentsign showing QR code label, raise it, and turn it so the QR code faces you", + "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.", + "Lift the beige paymentsign with printed details and rotate it until the QR code faces you.", + "Use the right arm to grab the paymentsign with blue and white text and point its QR code toward you.", + "Lift the beige paymentsign from the surface and adjust its angle towards you", + "Use the right arm to lift the paymentsign with tilted rectangular panel from the table and face the qrcode.", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Pick the small paymentsign for mobile payments up, then rotate to make its qrcode visible.", + "Lift the QR code paymentsign from the table and turn it to face you.", + "Use the right arm to grab the beige paymentsign with printed details and rotate it until the QR faces forward", + "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.", + "Lift the QR code paymentsign and rotate until its qrcode faces you.", + "Lift the compact paymentsign for scanning payments with the right arm, then rotate it to make the qrcode visible.", + "Grab the beige paymentsign with printed details, lift it from the table, and rotate it QR front", + "Catch and lift the QR code paymentsign, then turn it to show the QR code.", + "Pick the paymentsign showing QR code label up, rotate it, and ensure the QR code faces you.", + "Locate the paymentsign showing QR code label, pick it up, and adjust its angle.", + "Grab the QR code paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the rectangular paymentsign with colorful top, lift, and turn it QR code forward", + "Use the right arm to grab the paymentsign resting on angled base, rotate, and face the QR code towards you.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Grab the beige paymentsign with printed details, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate QR code towards you.", + "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.", + "Catch the rectangular paymentsign with colorful top using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the smooth beige paymentsign and rotate the qrcode to face you.", + "Use the right arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.", + "Slide the compact paymentsign for scanning payments off the table and turn it to face you.", + "Find the paymentsign with tilted rectangular panel, grab it, and turn it towards yourself.", + "Using the right arm, catch the paymentsign resting on angled base and rotate it to face the QR code.", + "Catch the beige paymentsign with printed details, lift, and rotate to align the qrcode to you.", + "Catch the smooth beige paymentsign with the right arm, then rotate it to make the QR code visible.", + "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you", + "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.", + "Grab the QR code paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to pick the rectangular paymentsign with colorful top and turn it towards you.", + "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you", + "Grab the stand-up paymentsign with rectangular top using the right arm, lift, and rotate until QR code faces you.", + "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.", + "Use the right arm to take the paymentsign resting on angled base and turn it until the QR code faces you" + ], + "unseen": [ + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode23.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a307ad2cc8210bc1ff0acb8aabebec1d63f896 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the payment sign with angled face from the table and rotate it towards you", + "Take the gray top with QR code, lift it, and orient it so the QR faces you", + "Grab the black base with tilted gray panel using the right arm, then rotate the QR code to face forward.", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Use the right arm to lift the small black stand for payments from the table and face the qrcode.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Lift the green payment logo on gray top with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the slanted gray panel for QR code scan, rotate, and face the QR code towards you.", + "Use the right arm to grab the small payment stand with black base and rotate QR code towards you.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Catch the green payment logo on gray top, lift it, and adjust its QR code to face you.", + "Find the triangular stand with QR code, grab it, and turn it towards yourself.", + "Use the right arm to lift the gray slanted panel with text and rotate it QR code toward you.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the right arm.", + "Slide the payment sign with angled face off the table and turn it to face you.", + "Grab the tabletop-sized payment sign using the right arm, lift, and rotate until QR code faces you.", + "Grab the paymentsign with the right arm, then rotate it to face yourself.", + "Grab the gray slanted panel with text, lift it from the table, and rotate it QR front", + "Catch the small payment stand with black base, pick it up, and rotate to show the QR code.", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Pick up the small black stand for payments and adjust its position to face the qrcode towards you.", + "Catch the triangular stand with QR code using the right arm, pick it up, and turn it to face the QR code.", + "Catch the payment sign with angled face with the right arm, then rotate it to make the QR code visible.", + "Lift the small payment stand with black base and rotate until its qrcode faces you.", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Take the tabletop-sized payment sign, raise it, and make the qrcode face you.", + "Use the right arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Grab the tabletop-sized payment sign using the right arm, then rotate it until the qrcode faces you.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Lift the triangular stand with QR code and orient its QR code toward you with the right arm.", + "Use the right arm to pick the green payment logo on gray top and turn it towards you.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Lift the small black stand for payments and rotate it until the QR code faces you.", + "Pick up the green payment logo on gray top and rotate it so the QR code faces you", + "Employ the right arm to seize the slanted gray panel for QR code scan, raise it, and rotate it QR-forward", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Use the right arm to grab the slanted gray panel for QR code scan, lift, and turn it QR code forward", + "Use the right arm to take the payment sign with green logo and turn it until the QR code faces you", + "Use the right arm to grab the gray top with QR code and point its QR code toward you.", + "Pick the green payment logo on gray top up, rotate it, and ensure the QR code faces you.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Grab the tabletop-sized payment sign, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the tabletop-sized payment sign and rotate the qrcode to face you.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Using the right arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you", + "Lift the small black stand for payments from the table and rotate it towards you", + "Take the gray top with QR code, lift it, and orient it so the QR faces you", + "Grab the tabletop-sized payment sign using the right arm, then rotate the QR code to face forward.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Use the right arm to lift the small black stand for payments from the table and face the qrcode.", + "Catch the black base with tilted gray panel, lift it, and rotate it QR code facing.", + "Lift the small payment stand with black base with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Use the right arm to grab the gray top with QR code and rotate QR code towards you.", + "Lift the tabletop-sized payment sign from the table and turn it to face you.", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to lift the paymentsign and rotate it QR code toward you.", + "Catch the green payment logo on gray top, lift, and rotate to align the qrcode to you.", + "Pick the small black stand for payments up and turn its QR code toward you using the right arm.", + "Slide the paymentsign off the table and turn it to face you.", + "Grab the green payment logo on gray top using the right arm, lift, and rotate until QR code faces you.", + "Grab the gray top with QR code with the right arm, then rotate it to face yourself.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Catch the small payment stand with black base, pick it up, and rotate to show the QR code.", + "Pick the green payment logo on gray top up, then rotate to make its qrcode visible.", + "Pick up the small black stand for payments and adjust its position to face the qrcode towards you.", + "Catch the tabletop-sized payment sign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the payment sign with angled face with the right arm, then rotate it to make the QR code visible.", + "Lift the black base with tilted gray panel and rotate until its qrcode faces you.", + "Lift the slanted gray panel for QR code scan and rotate for its qrcode to face you.", + "Take the slanted gray panel for QR code scan, raise it, and make the qrcode face you.", + "Use the right arm to grab the gray slanted panel with text and rotate it until the QR faces forward", + "Catch the small payment stand with black base, pick it up, and rotate to view the qrcode.", + "Grab the slanted gray panel for QR code scan using the right arm, then rotate it until the qrcode faces you.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Locate the gray top with QR code, pick it up, and adjust its angle.", + "Lift the payment sign with angled face and orient its QR code toward you with the right arm.", + "Use the right arm to pick the payment sign with angled face and turn it towards you.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Lift the gray slanted panel with text and rotate it until the QR code faces you.", + "Pick up the payment sign with angled face and rotate it so the QR code faces you", + "Employ the right arm to seize the small black stand for payments, raise it, and rotate it QR-forward", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Use the right arm to grab the slanted gray panel for QR code scan, lift, and turn it QR code forward", + "Use the right arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Use the right arm to grab the gray top with QR code and point its QR code toward you.", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Catch the small payment stand with black base, lift it, and turn the qrcode towards you.", + "Grab the triangular stand with QR code, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Using the right arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Take the gray top with QR code from the table, rotating it QR code toward you.", + "Catch the tabletop-sized payment sign, raise it, and turn it so the QR code faces you" + ], + "unseen": [ + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode24.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..197d9e8d9746710949aba1312b0cdc2fe8f05321 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the paymentsign showing QR code label and rotate QR code towards you.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign resting on angled base, lift it from the table, and rotate it QR front", + "Catch the rectangular paymentsign with colorful top using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Lift the compact paymentsign for scanning payments from the table and rotate it so the code faces you.", + "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you", + "Grab the small paymentsign for mobile payments, pick it up, and turn its qrcode toward you.", + "Pick up the paymentsign with blue and white text and adjust its position to face the qrcode towards you.", + "Lift the beige paymentsign with printed details and rotate for its qrcode to face you.", + "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to show the QR code.", + "Grab the beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Use the right arm to grab the stand-up paymentsign with rectangular top and point its QR code toward you.", + "Use the right arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.", + "Lift the paymentsign resting on angled base and rotate it until the QR code faces you.", + "Grab the smooth beige paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Catch the rectangular paymentsign with colorful top with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.", + "Use the right arm to lift the QR code paymentsign from the table and face the qrcode.", + "Find the stand-up paymentsign with rectangular top, grab it, and turn it towards yourself.", + "Catch the paymentsign with tilted rectangular panel off the table and rotate its qrcode to you.", + "Lift the stand-up paymentsign with rectangular top from the surface and adjust its angle towards you", + "Catch the compact paymentsign for scanning payments, lift it, and rotate it QR code facing.", + "Use the right arm to grab the beige paymentsign and rotate it until the QR faces forward", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Catch the smooth beige paymentsign, lift it, and adjust its QR code to face you.", + "Lift the beige paymentsign and orient its QR code toward you with the right arm.", + "Grab the QR code paymentsign with the right arm, then rotate it to face yourself.", + "Slide the small paymentsign for mobile payments off the table and turn it to face you.", + "Use the right arm to take the stand-up paymentsign with rectangular top and turn it until the QR code faces you", + "Lift the paymentsign with tilted rectangular panel with the right arm, then rotate it to make the qrcode visible.", + "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.", + "Employ the right arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward", + "Take the paymentsign with blue and white text, raise it, and make the qrcode face you.", + "Using the right arm, catch the QR code paymentsign and rotate it to face the QR code.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, rotate, and face the QR code towards you.", + "Locate the paymentsign showing QR code label, pick it up, and adjust its angle.", + "Pick up the QR code paymentsign and rotate it so the QR code faces you", + "Lift the smooth beige paymentsign and rotate until its qrcode faces you.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Lift the rectangular paymentsign with colorful top from the table and turn it to face you.", + "Pick the compact paymentsign for scanning payments up and turn its QR code toward you using the right arm.", + "Grab the compact paymentsign for scanning payments using the right arm, lift, and rotate until QR code faces you.", + "Catch the QR code paymentsign, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the paymentsign resting on angled base and rotate QR code towards you.", + "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.", + "Grab the compact paymentsign for scanning payments, lift it from the table, and rotate it QR front", + "Catch the QR code paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to pick the paymentsign resting on angled base and turn it towards you.", + "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.", + "Take the paymentsign with blue and white text, lift it, and orient it so the QR faces you", + "Grab the paymentsign showing QR code label, pick it up, and turn its qrcode toward you.", + "Pick up the paymentsign with blue and white text and adjust its position to face the qrcode towards you.", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Catch and lift the paymentsign with tilted rectangular panel, then turn it to show the QR code.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.", + "Grab the compact paymentsign for scanning payments using the right arm, then rotate the QR code to face forward.", + "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.", + "Lift the beige paymentsign with printed details from the table, turning it QR code forward.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Use the right arm to grab the beige paymentsign with printed details and point its QR code toward you.", + "Use the right arm to lift the beige paymentsign and rotate it QR code toward you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and turn the qrcode towards you.", + "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.", + "Grab the beige paymentsign with printed details using the right arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign resting on angled base with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the QR code paymentsign, lift, and turn it QR code forward", + "Use the right arm to grab the small paymentsign for mobile payments and rotate the qrcode to face you.", + "Use the right arm to lift the paymentsign resting on angled base from the table and face the qrcode.", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Catch the QR code paymentsign off the table and rotate its qrcode to you.", + "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Use the right arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.", + "Lift the beige paymentsign and orient its QR code toward you with the right arm.", + "Grab the stand-up paymentsign with rectangular top with the right arm, then rotate it to face yourself.", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Use the right arm to take the paymentsign showing QR code label and turn it until the QR code faces you", + "Lift the rectangular paymentsign with colorful top with the right arm, then rotate it to make the qrcode visible.", + "Take the small paymentsign for mobile payments from the table, rotating it QR code toward you.", + "Employ the right arm to seize the paymentsign with blue and white text, raise it, and rotate it QR-forward", + "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.", + "Using the right arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Use the right arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Locate the paymentsign with tilted rectangular panel, pick it up, and adjust its angle.", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Pick the stand-up paymentsign with rectangular top up and turn its QR code toward you using the right arm.", + "Grab the paymentsign with blue and white text using the right arm, lift, and rotate until QR code faces you." + ], + "unseen": [ + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode25.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..b8f4f9237fb3c0895616fb7e999e898f0dc65593 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch and lift the rectangular plastic paymentsign with codes, then turn it to show the QR code.", + "Employ the right arm to seize the rectangular plastic paymentsign, raise it, and rotate it QR-forward", + "Find the paymentsign with glossy blue panel, grab it, and turn it towards yourself.", + "Pick up the smooth surface paymentsign and adjust its position to face the qrcode towards you.", + "Catch the paymentsign for scanning QR codes, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the rectangular plastic paymentsign and rotate QR code towards you.", + "Lift the smooth surface paymentsign from the table and rotate it so the code faces you.", + "Pick the smooth surface paymentsign up and turn its QR code toward you using the right arm.", + "Catch the small paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign for scanning QR codes and rotate until its qrcode faces you.", + "Take the paymentsign for scanning QR codes, lift it, and orient it so the QR faces you", + "Use the right arm to grab the smooth surface paymentsign, rotate, and face the QR code towards you.", + "Grab the blue and white paymentsign, lift it from the table, and rotate it QR front", + "Catch the paymentsign with angled black stand with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to lift the rectangular plastic paymentsign with codes and rotate it QR code toward you.", + "Lift the blue and white paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign with printed QR codes, lift it, and turn the qrcode towards you.", + "Grab the paymentsign for scanning QR codes using the right arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign with printed QR codes and rotate for its qrcode to face you.", + "Pick the small paymentsign with stand up, then rotate to make its qrcode visible.", + "Lift the paymentsign for scanning QR codes from the table, turning it QR code forward.", + "Catch the tabletop paymentsign, raise it, and turn it so the QR code faces you", + "Pick the paymentsign with printed QR codes up, rotate it, and ensure the QR code faces you.", + "Lift the rectangular plastic paymentsign from the table and turn it to face you.", + "Use the right arm to grab the small paymentsign with stand and point its QR code toward you.", + "Catch the tabletop paymentsign, lift it, and rotate it QR code facing.", + "Grab the rectangular plastic paymentsign using the right arm, then rotate the QR code to face forward.", + "Locate the paymentsign with angled black stand, pick it up, and adjust its angle.", + "Use the right arm to lift the blue and white paymentsign from the table and face the qrcode.", + "Pick up the blue and white rectangular paymentsign and rotate it so the QR code faces you", + "Grab the paymentsign with printed QR codes with the right arm, then rotate it to face yourself.", + "Slide the paymentsign for scanning QR codes off the table and turn it to face you.", + "Take the blue and white rectangular paymentsign, raise it, and make the qrcode face you.", + "Use the right arm to take the rectangular plastic paymentsign and turn it until the QR code faces you", + "Using the right arm, catch the blue and white rectangular paymentsign and rotate it to face the QR code.", + "Grab the rectangular plastic paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with angled black stand using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the blue and white paymentsign and rotate the qrcode to face you.", + "Lift the blue and white rectangular paymentsign and rotate it until the QR code faces you.", + "Use the right arm to grab the paymentsign with glossy blue panel and rotate it until the QR faces forward", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to view the qrcode.", + "Catch the rectangular plastic paymentsign, pick it up, and rotate to show the QR code.", + "Take the small paymentsign with stand from the table, rotating it QR code toward you.", + "Lift the smooth surface paymentsign from the surface and adjust its angle towards you", + "Grab the small paymentsign with stand, pick it up, and turn its qrcode toward you.", + "Use the right arm to pick the small paymentsign with stand and turn it towards you.", + "Lift the blue and white paymentsign and orient its QR code toward you with the right arm.", + "Lift the paymentsign with angled black stand from the table and rotate it towards you", + "Catch the smooth surface paymentsign off the table and rotate its qrcode to you.", + "Use the right arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Catch and lift the rectangular plastic paymentsign with codes, then turn it to show the QR code.", + "Employ the right arm to seize the small paymentsign with stand, raise it, and rotate it QR-forward", + "Find the blue and white paymentsign, grab it, and turn it towards yourself.", + "Pick up the paymentsign with angled black stand and adjust its position to face the qrcode towards you.", + "Catch the small glossy paymentsign, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the small glossy paymentsign and rotate QR code towards you.", + "Lift the rectangular plastic paymentsign from the table and rotate it so the code faces you.", + "Pick the small paymentsign with stand up and turn its QR code toward you using the right arm.", + "Catch the blue and white paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign with printed QR codes and rotate until its qrcode faces you.", + "Take the paymentsign with glossy blue panel, lift it, and orient it so the QR faces you", + "Use the right arm to grab the tabletop paymentsign, rotate, and face the QR code towards you.", + "Grab the small paymentsign with stand, lift it from the table, and rotate it QR front", + "Catch the paymentsign with glossy blue panel with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to lift the small glossy paymentsign and rotate it QR code toward you.", + "Lift the paymentsign with angled black stand with the right arm, then rotate it to make the qrcode visible.", + "Catch the small paymentsign with stand, lift it, and turn the qrcode towards you.", + "Grab the paymentsign with angled black stand using the right arm, lift, and rotate until QR code faces you.", + "Lift the small paymentsign with stand and rotate for its qrcode to face you.", + "Pick the paymentsign with glossy blue panel up, then rotate to make its qrcode visible.", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Catch the rectangular plastic paymentsign with codes, raise it, and turn it so the QR code faces you", + "Pick the paymentsign with glossy blue panel up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign with glossy blue panel from the table and turn it to face you.", + "Use the right arm to grab the rectangular plastic paymentsign with codes and point its QR code toward you.", + "Catch the blue and white rectangular paymentsign, lift it, and rotate it QR code facing.", + "Grab the paymentsign for scanning QR codes using the right arm, then rotate the QR code to face forward.", + "Locate the paymentsign with angled black stand, pick it up, and adjust its angle.", + "Use the right arm to lift the blue and white paymentsign from the table and face the qrcode.", + "Pick up the tabletop paymentsign and rotate it so the QR code faces you", + "Grab the rectangular plastic paymentsign with the right arm, then rotate it to face yourself.", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Take the small paymentsign with stand, raise it, and make the qrcode face you.", + "Use the right arm to take the blue and white paymentsign and turn it until the QR code faces you", + "Using the right arm, catch the tabletop paymentsign and rotate it to face the QR code.", + "Grab the small paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Catch the rectangular plastic paymentsign with codes using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the paymentsign for scanning QR codes and rotate the qrcode to face you.", + "Lift the rectangular plastic paymentsign with codes and rotate it until the QR code faces you.", + "Use the right arm to grab the blue and white paymentsign and rotate it until the QR faces forward", + "Catch the blue and white paymentsign, pick it up, and rotate to view the qrcode.", + "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.", + "Take the small paymentsign with stand from the table, rotating it QR code toward you.", + "Lift the blue and white rectangular paymentsign from the surface and adjust its angle towards you", + "Grab the paymentsign with printed QR codes, pick it up, and turn its qrcode toward you.", + "Use the right arm to pick the paymentsign with glossy blue panel and turn it towards you.", + "Lift the blue and white rectangular paymentsign and orient its QR code toward you with the right arm.", + "Lift the paymentsign with glossy blue panel from the table and rotate it towards you", + "Catch the paymentsign for scanning QR codes off the table and rotate its qrcode to you.", + "Use the right arm to grab the blue and white paymentsign, lift, and turn it QR code forward" + ], + "unseen": [ + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode26.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..f38842dd6e211279007318c5694d6053053b74a8 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the black base with tilted gray panel using the right arm, then rotate the QR code to face forward.", + "Slide the gray slanted panel with text off the table and turn it to face you.", + "Use the right arm to grab the black base with tilted gray panel and rotate the qrcode to face you.", + "Use the right arm to take the small black stand for payments and turn it until the QR code faces you", + "Grab the triangular stand with QR code using the right arm, lift, and rotate until QR code faces you.", + "Pick up the small black stand for payments and rotate it so the QR code faces you", + "Use the right arm to grab the small payment stand with black base and rotate QR code towards you.", + "Pick up the tabletop-sized payment sign and adjust its position to face the qrcode towards you.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the right arm.", + "Take the gray top with QR code, lift it, and orient it so the QR faces you", + "Use the right arm to grab the paymentsign and rotate it until the QR faces forward", + "Use the right arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Lift the triangular stand with QR code and orient its QR code toward you with the right arm.", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Grab the gray slanted panel with text with the right arm, then rotate it to face yourself.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Use the right arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Catch the small payment stand with black base, raise it, and turn it so the QR code faces you", + "Catch the green payment logo on gray top, lift, and rotate to align the qrcode to you.", + "Lift the black base with tilted gray panel from the table and rotate it towards you", + "Grab the triangular stand with QR code using the right arm, then rotate it until the qrcode faces you.", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Catch the black base with tilted gray panel, pick it up, and rotate to show the QR code.", + "Catch the black base with tilted gray panel off the table and rotate its qrcode to you.", + "Catch the payment sign with angled face, lift it, and rotate it QR code facing.", + "Take the small payment stand with black base from the table, rotating it QR code toward you.", + "Find the payment sign with green logo, grab it, and turn it towards yourself.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Lift the gray top with QR code from the surface and adjust its angle towards you", + "Lift the payment sign with green logo and rotate it until the QR code faces you.", + "Catch the payment sign with angled face, lift it, and turn the qrcode towards you.", + "Catch and lift the slanted gray panel for QR code scan, then turn it to show the QR code.", + "Catch the green payment logo on gray top using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to lift the gray slanted panel with text and rotate it QR code toward you.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Use the right arm to lift the gray top with QR code from the table and face the qrcode.", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Use the right arm to grab the black base with tilted gray panel and point its QR code toward you.", + "Use the right arm to pick the triangular stand with QR code and turn it towards you.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Catch the tabletop-sized payment sign with the right arm, then rotate it to make the QR code visible.", + "Employ the right arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Lift the gray top with QR code with the right arm, then rotate it to make the qrcode visible.", + "Pick the slanted gray panel for QR code scan up, rotate it, and ensure the QR code faces you.", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Using the right arm, catch the payment sign with green logo and rotate it to face the QR code.", + "Grab the triangular stand with QR code using the right arm, then rotate the QR code to face forward.", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Use the right arm to grab the payment sign with angled face and rotate the qrcode to face you.", + "Use the right arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Grab the tabletop-sized payment sign using the right arm, lift, and rotate until QR code faces you.", + "Pick up the small black stand for payments and rotate it so the QR code faces you", + "Use the right arm to grab the paymentsign and rotate QR code towards you.", + "Pick up the paymentsign and adjust its position to face the qrcode towards you.", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Pick the black base with tilted gray panel up and turn its QR code toward you using the right arm.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Use the right arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Use the right arm to grab the paymentsign, lift, and turn it QR code forward", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Lift the green payment logo on gray top and orient its QR code toward you with the right arm.", + "Catch the gray top with QR code, lift it, and adjust its QR code to face you.", + "Grab the paymentsign with the right arm, then rotate it to face yourself.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Use the right arm to grab the gray top with QR code, rotate, and face the QR code towards you.", + "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you", + "Catch the payment sign with green logo, lift, and rotate to align the qrcode to you.", + "Lift the tabletop-sized payment sign from the table and rotate it towards you", + "Grab the small black stand for payments using the right arm, then rotate it until the qrcode faces you.", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Catch the slanted gray panel for QR code scan, lift it, and rotate it QR code facing.", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Find the slanted gray panel for QR code scan, grab it, and turn it towards yourself.", + "Take the slanted gray panel for QR code scan, raise it, and make the qrcode face you.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Catch and lift the small black stand for payments, then turn it to show the QR code.", + "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to lift the payment sign with green logo and rotate it QR code toward you.", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Use the right arm to lift the paymentsign from the table and face the qrcode.", + "Lift the triangular stand with QR code from the table, turning it QR code forward.", + "Use the right arm to grab the paymentsign and point its QR code toward you.", + "Use the right arm to pick the payment sign with green logo and turn it towards you.", + "Grab the payment sign with green logo, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Catch the black base with tilted gray panel with the right arm, then rotate it to make the QR code visible.", + "Employ the right arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Lift the payment sign with green logo with the right arm, then rotate it to make the qrcode visible.", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Using the right arm, catch the triangular stand with QR code and rotate it to face the QR code." + ], + "unseen": [ + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode27.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..b2fe57e3ce8277855e1008fdb8081fefa36a71d3 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the white rectangular paymentsign with yellow details and rotate for its qrcode to face you.", + "Take the white paymentsign with raised base, raise it, and make the qrcode face you.", + "Using the right arm, catch the yellow and white payment display and rotate it to face the QR code.", + "Use the right arm to grab the white rectangular paymentsign with yellow details, lift, and turn it QR code forward", + "Grab the white rectangular paymentsign with yellow details using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the smooth plastic paymentsign with QR code, rotate, and face the QR code towards you.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to show the QR code.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to view the qrcode.", + "Use the right arm to pick the paymentsign and turn it towards you.", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Lift the paymentsign with QR code area from the table and rotate it so the code faces you.", + "Lift the white stand sign with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Catch the yellow panel white paymentsign, lift it, and adjust its QR code to face you.", + "Catch the yellow panel white paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the white stand sign and point its QR code toward you.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Use the right arm to grab the white paymentsign with raised base and rotate the qrcode to face you.", + "Lift the rectangular paymentsign with stand from the table, turning it QR code forward.", + "Pick up the rectangular paymentsign with stand and adjust its position to face the qrcode towards you.", + "Employ the right arm to seize the sign with yellow payment section, raise it, and rotate it QR-forward", + "Pick the plastic smooth paymentsign up, then rotate to make its qrcode visible.", + "Pick the plastic smooth paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to take the smooth plastic paymentsign with QR code and turn it until the QR code faces you", + "Catch the paymentsign with the right arm, then rotate it to make the QR code visible.", + "Lift the paymentsign with QR code area from the table and turn it to face you.", + "Grab the yellow and white payment display using the right arm, lift, and rotate until QR code faces you.", + "Catch the sign with yellow payment section, lift it, and turn the qrcode towards you.", + "Lift the yellow panel white paymentsign from the surface and adjust its angle towards you", + "Lift the white rectangular paymentsign with yellow details and rotate until its qrcode faces you.", + "Use the right arm to lift the smooth plastic paymentsign with QR code from the table and face the qrcode.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate it until the QR faces forward", + "Grab the smooth plastic paymentsign with QR code, lift it from the table, and rotate it QR front", + "Lift the paymentsign and orient its QR code toward you with the right arm.", + "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Pick the tabletop paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the yellow panel white paymentsign and rotate QR code towards you.", + "Grab the tabletop paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Catch and lift the white paymentsign with raised base, then turn it to show the QR code.", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Grab the paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the plastic smooth paymentsign and rotate it QR code toward you.", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Pick up the sign with yellow payment section and rotate it so the QR code faces you", + "Catch the white paymentsign with raised base, lift it, and rotate it QR code facing.", + "Slide the rectangular paymentsign with stand off the table and turn it to face you.", + "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you", + "Lift the plastic smooth paymentsign from the table and rotate it towards you", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Take the paymentsign with QR code area, raise it, and make the qrcode face you.", + "Using the right arm, catch the sign with yellow payment section and rotate it to face the QR code.", + "Use the right arm to grab the rectangular paymentsign with stand, lift, and turn it QR code forward", + "Grab the plastic smooth paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the smooth plastic paymentsign with QR code, rotate, and face the QR code towards you.", + "Catch the sign with yellow payment section, pick it up, and rotate to show the QR code.", + "Take the plastic smooth paymentsign from the table, rotating it QR code toward you.", + "Catch the yellow panel white paymentsign, pick it up, and rotate to view the qrcode.", + "Use the right arm to pick the sign with yellow payment section and turn it towards you.", + "Take the yellow panel white paymentsign, lift it, and orient it so the QR faces you", + "Lift the white paymentsign with raised base from the table and rotate it so the code faces you.", + "Lift the white stand sign with the right arm, then rotate it to make the qrcode visible.", + "Catch the rectangular paymentsign with stand off the table and rotate its qrcode to you.", + "Catch the white paymentsign with raised base, lift it, and adjust its QR code to face you.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the white paymentsign with raised base and point its QR code toward you.", + "Locate the yellow panel white paymentsign, pick it up, and adjust its angle.", + "Use the right arm to grab the paymentsign with QR code area and rotate the qrcode to face you.", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.", + "Employ the right arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Pick the white paymentsign with raised base up, then rotate to make its qrcode visible.", + "Pick the smooth plastic paymentsign with QR code up, rotate it, and ensure the QR code faces you.", + "Use the right arm to take the white rectangular paymentsign with yellow details and turn it until the QR code faces you", + "Catch the tabletop paymentsign with the right arm, then rotate it to make the QR code visible.", + "Lift the plastic smooth paymentsign from the table and turn it to face you.", + "Grab the rectangular paymentsign with stand using the right arm, lift, and rotate until QR code faces you.", + "Catch the plastic smooth paymentsign, lift it, and turn the qrcode towards you.", + "Lift the rectangular paymentsign with stand from the surface and adjust its angle towards you", + "Lift the white paymentsign with raised base and rotate until its qrcode faces you.", + "Use the right arm to lift the plastic smooth paymentsign from the table and face the qrcode.", + "Use the right arm to grab the rectangular paymentsign with stand and rotate it until the QR faces forward", + "Grab the white rectangular paymentsign with yellow details, lift it from the table, and rotate it QR front", + "Lift the white rectangular paymentsign with yellow details and orient its QR code toward you with the right arm.", + "Catch the white stand sign using the right arm, pick it up, and turn it to face the QR code.", + "Pick the paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Grab the yellow panel white paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Catch and lift the white stand sign, then turn it to show the QR code.", + "Lift the white paymentsign with raised base and rotate it until the QR code faces you.", + "Grab the paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the rectangular paymentsign with stand and rotate it QR code toward you.", + "Grab the smooth plastic paymentsign with QR code, pick it up, and turn its qrcode toward you.", + "Pick up the sign with yellow payment section and rotate it so the QR code faces you", + "Catch the tabletop paymentsign, lift it, and rotate it QR code facing.", + "Slide the yellow and white payment display off the table and turn it to face you.", + "Catch the yellow panel white paymentsign, raise it, and turn it so the QR code faces you", + "Lift the white paymentsign with raised base from the table and rotate it towards you", + "Find the smooth plastic paymentsign with QR code, grab it, and turn it towards yourself." + ], + "unseen": [ + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode28.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..108d7889b5c31b8941950363fa57468ecbef2e5a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the smooth plastic paymentsign with QR code, raise it, and make the qrcode face you.", + "Use the right arm to take the yellow panel white paymentsign and turn it until the QR code faces you", + "Use the right arm to grab the tabletop paymentsign and rotate QR code towards you.", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the white rectangular paymentsign with yellow details with the right arm, then rotate it to make the qrcode visible.", + "Grab the yellow panel white paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the sign with yellow payment section, lift it, and turn the qrcode towards you.", + "Lift the yellow and white payment display from the surface and adjust its angle towards you", + "Grab the white paymentsign with raised base using the right arm, then rotate the QR code to face forward.", + "Take the smooth plastic paymentsign with QR code, lift it, and orient it so the QR faces you", + "Employ the right arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Catch the rectangular paymentsign with stand with the right arm, then rotate it to make the QR code visible.", + "Grab the white stand sign with the right arm, then rotate it to face yourself.", + "Lift the plastic smooth paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the yellow and white payment display and point its QR code toward you.", + "Locate the white paymentsign with raised base, pick it up, and adjust its angle.", + "Lift the white rectangular paymentsign with yellow details and orient its QR code toward you with the right arm.", + "Pick the white paymentsign with raised base up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the plastic smooth paymentsign and rotate the qrcode to face you.", + "Pick the sign with yellow payment section up, then rotate to make its qrcode visible.", + "Using the right arm, catch the white paymentsign with raised base and rotate it to face the QR code.", + "Use the right arm to lift the white stand sign and rotate it QR code toward you.", + "Catch the white rectangular paymentsign with yellow details, lift, and rotate to align the qrcode to you.", + "Lift the yellow and white payment display from the table and rotate it towards you", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to show the QR code.", + "Catch and lift the sign with yellow payment section, then turn it to show the QR code.", + "Use the right arm to pick the rectangular paymentsign with stand and turn it towards you.", + "Lift the rectangular paymentsign with stand from the table, turning it QR code forward.", + "Grab the paymentsign with QR code area, lift it from the table, and rotate it QR front", + "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate it until the QR faces forward", + "Lift the sign with yellow payment section and rotate it until the QR code faces you.", + "Catch the sign with yellow payment section, pick it up, and rotate to view the qrcode.", + "Lift the plastic smooth paymentsign from the table and rotate it so the code faces you.", + "Catch the yellow panel white paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the smooth plastic paymentsign with QR code, lift, and turn it QR code forward", + "Catch the smooth plastic paymentsign with QR code, lift it, and adjust its QR code to face you.", + "Pick the white rectangular paymentsign with yellow details up and turn its QR code toward you using the right arm.", + "Use the right arm to lift the white rectangular paymentsign with yellow details from the table and face the qrcode.", + "Catch the paymentsign with QR code area off the table and rotate its qrcode to you.", + "Lift the rectangular paymentsign with stand and rotate until its qrcode faces you.", + "Take the yellow panel white paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign from the table and turn it to face you.", + "Find the tabletop paymentsign, grab it, and turn it towards yourself.", + "Pick up the white rectangular paymentsign with yellow details and rotate it so the QR code faces you", + "Pick up the white paymentsign with raised base and adjust its position to face the qrcode towards you.", + "Slide the white paymentsign with raised base off the table and turn it to face you.", + "Catch the plastic smooth paymentsign, raise it, and turn it so the QR code faces you", + "Grab the rectangular paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the smooth plastic paymentsign with QR code, rotate, and face the QR code towards you.", + "Take the tabletop paymentsign, raise it, and make the qrcode face you.", + "Use the right arm to take the white paymentsign with raised base and turn it until the QR code faces you", + "Use the right arm to grab the yellow panel white paymentsign and rotate QR code towards you.", + "Grab the yellow panel white paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the yellow and white payment display with the right arm, then rotate it to make the qrcode visible.", + "Grab the plastic smooth paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the white stand sign, lift it, and turn the qrcode towards you.", + "Lift the white stand sign from the surface and adjust its angle towards you", + "Grab the plastic smooth paymentsign using the right arm, then rotate the QR code to face forward.", + "Take the white rectangular paymentsign with yellow details, lift it, and orient it so the QR faces you", + "Employ the right arm to seize the plastic smooth paymentsign, raise it, and rotate it QR-forward", + "Catch the tabletop paymentsign with the right arm, then rotate it to make the QR code visible.", + "Grab the tabletop paymentsign with the right arm, then rotate it to face yourself.", + "Lift the yellow and white payment display and rotate for its qrcode to face you.", + "Use the right arm to grab the yellow panel white paymentsign and point its QR code toward you.", + "Locate the plastic smooth paymentsign, pick it up, and adjust its angle.", + "Lift the smooth plastic paymentsign with QR code and orient its QR code toward you with the right arm.", + "Pick the plastic smooth paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the yellow and white payment display and rotate the qrcode to face you.", + "Pick the white stand sign up, then rotate to make its qrcode visible.", + "Using the right arm, catch the yellow panel white paymentsign and rotate it to face the QR code.", + "Use the right arm to lift the plastic smooth paymentsign and rotate it QR code toward you.", + "Catch the plastic smooth paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign with QR code area from the table and rotate it towards you", + "Catch the white stand sign, lift it, and rotate it QR code facing.", + "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.", + "Catch and lift the plastic smooth paymentsign, then turn it to show the QR code.", + "Use the right arm to pick the white rectangular paymentsign with yellow details and turn it towards you.", + "Lift the smooth plastic paymentsign with QR code from the table, turning it QR code forward.", + "Grab the paymentsign with QR code area, lift it from the table, and rotate it QR front", + "Use the right arm to grab the rectangular paymentsign with stand and rotate it until the QR faces forward", + "Lift the paymentsign with QR code area and rotate it until the QR code faces you.", + "Catch the white stand sign, pick it up, and rotate to view the qrcode.", + "Lift the yellow and white payment display from the table and rotate it so the code faces you.", + "Catch the plastic smooth paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the white stand sign, lift, and turn it QR code forward", + "Catch the white rectangular paymentsign with yellow details, lift it, and adjust its QR code to face you.", + "Pick the plastic smooth paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to lift the white stand sign from the table and face the qrcode.", + "Catch the white paymentsign with raised base off the table and rotate its qrcode to you.", + "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.", + "Take the yellow and white payment display from the table, rotating it QR code toward you.", + "Lift the smooth plastic paymentsign with QR code from the table and turn it to face you.", + "Find the rectangular paymentsign with stand, grab it, and turn it towards yourself.", + "Pick up the paymentsign with QR code area and rotate it so the QR code faces you", + "Pick up the white rectangular paymentsign with yellow details and adjust its position to face the qrcode towards you.", + "Slide the white rectangular paymentsign with yellow details off the table and turn it to face you.", + "Catch the yellow and white payment display, raise it, and turn it so the QR code faces you", + "Grab the smooth plastic paymentsign with QR code using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the white paymentsign with raised base, rotate, and face the QR code towards you." + ], + "unseen": [ + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode29.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..6e3a91ce5c033ab09f6ae275481bedef416c7b9a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the paymentsign and rotate for its qrcode to face you.", + "Use the right arm to lift the plastic smooth paymentsign from the table and face the qrcode.", + "Catch the rectangular paymentsign with stand, raise it, and turn it so the QR code faces you", + "Grab the paymentsign with QR code area using the right arm, lift, and rotate until QR code faces you.", + "Lift the white paymentsign with raised base from the table and rotate it so the code faces you.", + "Grab the white stand sign, lift it from the table, and rotate it QR front", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Grab the plastic smooth paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the white rectangular paymentsign with yellow details, rotate, and face the QR code towards you.", + "Catch the yellow and white payment display, pick it up, and rotate to view the qrcode.", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Lift the white stand sign from the table, turning it QR code forward.", + "Catch and lift the sign with yellow payment section, then turn it to show the QR code.", + "Catch the white stand sign off the table and rotate its qrcode to you.", + "Use the right arm to grab the white paymentsign with raised base and rotate QR code towards you.", + "Find the yellow panel white paymentsign, grab it, and turn it towards yourself.", + "Grab the white rectangular paymentsign with yellow details using the right arm, then rotate it until the qrcode faces you.", + "Take the white stand sign, raise it, and make the qrcode face you.", + "Employ the right arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Catch the paymentsign with QR code area, lift it, and turn the qrcode towards you.", + "Locate the yellow and white payment display, pick it up, and adjust its angle.", + "Lift the yellow and white payment display from the surface and adjust its angle towards you", + "Grab the rectangular paymentsign with stand with the right arm, then rotate it to face yourself.", + "Using the right arm, catch the yellow and white payment display and rotate it to face the QR code.", + "Lift the white paymentsign with raised base with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to lift the white rectangular paymentsign with yellow details and rotate it QR code toward you.", + "Take the white stand sign from the table, rotating it QR code toward you.", + "Lift the white stand sign and rotate until its qrcode faces you.", + "Catch the sign with yellow payment section, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the white stand sign and rotate it until the QR faces forward", + "Grab the plastic smooth paymentsign, pick it up, and turn its qrcode toward you.", + "Pick the paymentsign with QR code area up, then rotate to make its qrcode visible.", + "Catch the sign with yellow payment section, pick it up, and rotate to show the QR code.", + "Lift the yellow and white payment display from the table and turn it to face you.", + "Use the right arm to grab the white stand sign, lift, and turn it QR code forward", + "Catch the white paymentsign with raised base, lift it, and rotate it QR code facing.", + "Slide the yellow panel white paymentsign off the table and turn it to face you.", + "Pick up the smooth plastic paymentsign with QR code and adjust its position to face the qrcode towards you.", + "Use the right arm to take the paymentsign with QR code area and turn it until the QR code faces you", + "Catch the tabletop paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the sign with yellow payment section with the right arm, then rotate it to make the QR code visible.", + "Pick up the yellow panel white paymentsign and rotate it so the QR code faces you", + "Use the right arm to pick the white rectangular paymentsign with yellow details and turn it towards you.", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Catch the tabletop paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the rectangular paymentsign with stand from the table and rotate it towards you", + "Lift the paymentsign and orient its QR code toward you with the right arm.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and point its QR code toward you.", + "Use the right arm to grab the white stand sign and rotate the qrcode to face you.", + "Pick the white stand sign up and turn its QR code toward you using the right arm.", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Use the right arm to lift the tabletop paymentsign from the table and face the qrcode.", + "Catch the white rectangular paymentsign with yellow details, raise it, and turn it so the QR code faces you", + "Grab the sign with yellow payment section using the right arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign with QR code area from the table and rotate it so the code faces you.", + "Grab the white stand sign, lift it from the table, and rotate it QR front", + "Take the white rectangular paymentsign with yellow details, lift it, and orient it so the QR faces you", + "Grab the paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the yellow and white payment display, rotate, and face the QR code towards you.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the smooth plastic paymentsign with QR code from the table, turning it QR code forward.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Catch the sign with yellow payment section off the table and rotate its qrcode to you.", + "Use the right arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Find the yellow and white payment display, grab it, and turn it towards yourself.", + "Grab the plastic smooth paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Take the white rectangular paymentsign with yellow details, raise it, and make the qrcode face you.", + "Employ the right arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Catch the plastic smooth paymentsign, lift it, and turn the qrcode towards you.", + "Locate the white paymentsign with raised base, pick it up, and adjust its angle.", + "Lift the smooth plastic paymentsign with QR code from the surface and adjust its angle towards you", + "Grab the tabletop paymentsign with the right arm, then rotate it to face yourself.", + "Using the right arm, catch the white stand sign and rotate it to face the QR code.", + "Lift the yellow and white payment display with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to lift the yellow panel white paymentsign and rotate it QR code toward you.", + "Take the white stand sign from the table, rotating it QR code toward you.", + "Lift the white paymentsign with raised base and rotate until its qrcode faces you.", + "Catch the white rectangular paymentsign with yellow details, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the white paymentsign with raised base and rotate it until the QR faces forward", + "Grab the white paymentsign with raised base, pick it up, and turn its qrcode toward you.", + "Pick the paymentsign with QR code area up, then rotate to make its qrcode visible.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to show the QR code.", + "Lift the paymentsign from the table and turn it to face you.", + "Use the right arm to grab the sign with yellow payment section, lift, and turn it QR code forward", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Slide the yellow and white payment display off the table and turn it to face you.", + "Pick up the smooth plastic paymentsign with QR code and adjust its position to face the qrcode towards you.", + "Use the right arm to take the yellow panel white paymentsign and turn it until the QR code faces you", + "Catch the tabletop paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with QR code area with the right arm, then rotate it to make the QR code visible.", + "Pick up the white paymentsign with raised base and rotate it so the QR code faces you", + "Use the right arm to pick the white stand sign and turn it towards you.", + "Lift the paymentsign with QR code area and rotate it until the QR code faces you.", + "Catch the white paymentsign with raised base, lift, and rotate to align the qrcode to you.", + "Lift the yellow panel white paymentsign from the table and rotate it towards you", + "Lift the smooth plastic paymentsign with QR code and orient its QR code toward you with the right arm.", + "Use the right arm to grab the paymentsign with QR code area and point its QR code toward you.", + "Use the right arm to grab the sign with yellow payment section and rotate the qrcode to face you.", + "Pick the white stand sign up and turn its QR code toward you using the right arm." + ], + "unseen": [ + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode3.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..372289c2419220f17e3c0790db5cb1e59f89638f --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Lift the small black stand for payments and orient its QR code toward you with the left arm.", + "Pick the black base with tilted gray panel up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the payment sign with angled face, rotate, and face the QR code towards you.", + "Catch the small payment stand with black base, raise it, and turn it so the QR code faces you", + "Catch the tabletop-sized payment sign, lift it, and rotate it QR code facing.", + "Lift the gray top with QR code from the surface and adjust its angle towards you", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Use the left arm to lift the paymentsign from the table and face the qrcode.", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Find the payment sign with angled face, grab it, and turn it towards yourself.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Use the left arm to take the triangular stand with QR code and turn it until the QR code faces you", + "Lift the paymentsign and rotate it until the QR code faces you.", + "Catch the small payment stand with black base using the left arm, pick it up, and turn it to face the QR code.", + "Catch the triangular stand with QR code off the table and rotate its qrcode to you.", + "Lift the triangular stand with QR code from the table, turning it QR code forward.", + "Use the left arm to lift the green payment logo on gray top and rotate it QR code toward you.", + "Catch the black base with tilted gray panel with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate QR code towards you.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Grab the triangular stand with QR code with the left arm, then rotate it to face yourself.", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Grab the payment sign with green logo using the left arm, lift, and rotate until QR code faces you.", + "Grab the gray slanted panel with text using the left arm, then rotate it until the qrcode faces you.", + "Grab the green payment logo on gray top, lift it from the table, and rotate it QR front", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Lift the triangular stand with QR code from the table and rotate it towards you", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Pick the tabletop-sized payment sign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to pick the green payment logo on gray top and turn it towards you.", + "Grab the small payment stand with black base using the left arm, then rotate the QR code to face forward.", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Take the black base with tilted gray panel from the table, rotating it QR code toward you.", + "Use the left arm to grab the green payment logo on gray top and rotate the qrcode to face you.", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Grab the payment sign with green logo, pick it up, and turn its qrcode toward you.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Using the left arm, catch the triangular stand with QR code and rotate it to face the QR code.", + "Lift the small payment stand with black base from the table and rotate it so the code faces you.", + "Lift the small black stand for payments with the left arm, then rotate it to make the qrcode visible.", + "Catch the black base with tilted gray panel, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the payment sign with green logo, lift, and turn it QR code forward", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Locate the gray top with QR code, pick it up, and adjust its angle.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Use the left arm to grab the triangular stand with QR code and point its QR code toward you.", + "Pick up the tabletop-sized payment sign and rotate it so the QR code faces you", + "Pick the payment sign with green logo up, then rotate to make its qrcode visible.", + "Use the left arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Lift the tabletop-sized payment sign and orient its QR code toward you with the left arm.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the small payment stand with black base, rotate, and face the QR code towards you.", + "Catch the slanted gray panel for QR code scan, raise it, and turn it so the QR code faces you", + "Catch the payment sign with angled face, lift it, and rotate it QR code facing.", + "Lift the triangular stand with QR code from the surface and adjust its angle towards you", + "Lift the green payment logo on gray top and rotate until its qrcode faces you.", + "Use the left arm to lift the triangular stand with QR code from the table and face the qrcode.", + "Take the payment sign with green logo, raise it, and make the qrcode face you.", + "Find the payment sign with angled face, grab it, and turn it towards yourself.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Use the left arm to take the tabletop-sized payment sign and turn it until the QR code faces you", + "Lift the gray slanted panel with text and rotate it until the QR code faces you.", + "Catch the green payment logo on gray top using the left arm, pick it up, and turn it to face the QR code.", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Lift the payment sign with green logo from the table, turning it QR code forward.", + "Use the left arm to lift the small black stand for payments and rotate it QR code toward you.", + "Catch the small payment stand with black base with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the triangular stand with QR code and rotate QR code towards you.", + "Catch the payment sign with angled face, pick it up, and rotate to show the QR code.", + "Grab the green payment logo on gray top with the left arm, then rotate it to face yourself.", + "Catch the small payment stand with black base, lift it, and adjust its QR code to face you.", + "Grab the triangular stand with QR code using the left arm, lift, and rotate until QR code faces you.", + "Grab the green payment logo on gray top using the left arm, then rotate it until the qrcode faces you.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Lift the black base with tilted gray panel from the table and rotate it towards you", + "Employ the left arm to seize the green payment logo on gray top, raise it, and rotate it QR-forward", + "Pick the slanted gray panel for QR code scan up, rotate it, and ensure the QR code faces you.", + "Use the left arm to pick the payment sign with green logo and turn it towards you.", + "Grab the green payment logo on gray top using the left arm, then rotate the QR code to face forward.", + "Slide the black base with tilted gray panel off the table and turn it to face you.", + "Pick up the tabletop-sized payment sign and adjust its position to face the qrcode towards you.", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Use the left arm to grab the payment sign with angled face and rotate the qrcode to face you.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Grab the black base with tilted gray panel, pick it up, and turn its qrcode toward you.", + "Catch and lift the gray top with QR code, then turn it to show the QR code.", + "Using the left arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Lift the triangular stand with QR code from the table and rotate it so the code faces you.", + "Lift the small black stand for payments with the left arm, then rotate it to make the qrcode visible.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the gray top with QR code, lift, and turn it QR code forward", + "Lift the payment sign with green logo from the table and turn it to face you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Use the left arm to grab the triangular stand with QR code and point its QR code toward you.", + "Pick up the small payment stand with black base and rotate it so the QR code faces you", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible." + ], + "unseen": [ + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode30.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..06507543f54b6d481aaccf15a869d00d8c3a5459 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the sign with yellow payment section and point its QR code toward you.", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Take the smooth plastic paymentsign with QR code, lift it, and orient it so the QR faces you", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Catch the yellow and white payment display, lift, and rotate to align the qrcode to you.", + "Pick up the sign with yellow payment section and rotate it so the QR code faces you", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate the qrcode to face you.", + "Grab the yellow and white payment display using the right arm, then rotate the QR code to face forward.", + "Lift the yellow panel white paymentsign from the table and rotate it towards you", + "Catch the yellow and white payment display, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the yellow panel white paymentsign and rotate it until the QR faces forward", + "Employ the right arm to seize the rectangular paymentsign with stand, raise it, and rotate it QR-forward", + "Lift the plastic smooth paymentsign from the table and turn it to face you.", + "Grab the yellow panel white paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign with QR code area and orient its QR code toward you with the right arm.", + "Take the white rectangular paymentsign with yellow details, raise it, and make the qrcode face you.", + "Using the right arm, catch the paymentsign and rotate it to face the QR code.", + "Lift the white stand sign and rotate it until the QR code faces you.", + "Use the right arm to grab the yellow panel white paymentsign, lift, and turn it QR code forward", + "Slide the paymentsign with QR code area off the table and turn it to face you.", + "Pick the white paymentsign with raised base up, then rotate to make its qrcode visible.", + "Lift the smooth plastic paymentsign with QR code from the table, turning it QR code forward.", + "Catch the white stand sign, lift it, and rotate it QR code facing.", + "Catch the paymentsign with QR code area off the table and rotate its qrcode to you.", + "Use the right arm to grab the white paymentsign with raised base and rotate QR code towards you.", + "Pick up the yellow panel white paymentsign and adjust its position to face the qrcode towards you.", + "Grab the paymentsign with QR code area using the right arm, lift, and rotate until QR code faces you.", + "Pick the paymentsign with QR code area up and turn its QR code toward you using the right arm.", + "Lift the white rectangular paymentsign with yellow details and rotate until its qrcode faces you.", + "Find the white stand sign, grab it, and turn it towards yourself.", + "Catch and lift the white stand sign, then turn it to show the QR code.", + "Grab the smooth plastic paymentsign with QR code, lift it from the table, and rotate it QR front", + "Use the right arm to lift the smooth plastic paymentsign with QR code and rotate it QR code toward you.", + "Lift the yellow and white payment display with the right arm, then rotate it to make the qrcode visible.", + "Catch the tabletop paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the yellow panel white paymentsign, rotate, and face the QR code towards you.", + "Use the right arm to pick the yellow panel white paymentsign and turn it towards you.", + "Pick the plastic smooth paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to lift the smooth plastic paymentsign with QR code from the table and face the qrcode.", + "Catch the white paymentsign with raised base, lift it, and adjust its QR code to face you.", + "Grab the white stand sign, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Lift the white stand sign and rotate for its qrcode to face you.", + "Use the right arm to take the paymentsign and turn it until the QR code faces you", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Catch the paymentsign with the right arm, then rotate it to make the QR code visible.", + "Catch the white rectangular paymentsign with yellow details, lift it, and turn the qrcode towards you.", + "Catch the white paymentsign with raised base, pick it up, and rotate to show the QR code.", + "Grab the paymentsign with the right arm, then rotate it to face yourself.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Use the right arm to grab the plastic smooth paymentsign and point its QR code toward you.", + "Lift the yellow and white payment display from the table and rotate it so the code faces you.", + "Take the plastic smooth paymentsign, lift it, and orient it so the QR faces you", + "Take the sign with yellow payment section from the table, rotating it QR code toward you.", + "Catch the yellow panel white paymentsign, lift, and rotate to align the qrcode to you.", + "Pick up the plastic smooth paymentsign and rotate it so the QR code faces you", + "Use the right arm to grab the yellow panel white paymentsign and rotate the qrcode to face you.", + "Grab the plastic smooth paymentsign using the right arm, then rotate the QR code to face forward.", + "Lift the paymentsign with QR code area from the table and rotate it towards you", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the plastic smooth paymentsign and rotate it until the QR faces forward", + "Employ the right arm to seize the sign with yellow payment section, raise it, and rotate it QR-forward", + "Lift the sign with yellow payment section from the table and turn it to face you.", + "Grab the yellow panel white paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the rectangular paymentsign with stand and orient its QR code toward you with the right arm.", + "Take the white stand sign, raise it, and make the qrcode face you.", + "Using the right arm, catch the sign with yellow payment section and rotate it to face the QR code.", + "Lift the white stand sign and rotate it until the QR code faces you.", + "Use the right arm to grab the smooth plastic paymentsign with QR code, lift, and turn it QR code forward", + "Slide the smooth plastic paymentsign with QR code off the table and turn it to face you.", + "Pick the yellow panel white paymentsign up, then rotate to make its qrcode visible.", + "Lift the yellow and white payment display from the table, turning it QR code forward.", + "Catch the white stand sign, lift it, and rotate it QR code facing.", + "Catch the white rectangular paymentsign with yellow details off the table and rotate its qrcode to you.", + "Use the right arm to grab the white stand sign and rotate QR code towards you.", + "Pick up the paymentsign with QR code area and adjust its position to face the qrcode towards you.", + "Grab the tabletop paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Pick the yellow and white payment display up and turn its QR code toward you using the right arm.", + "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Catch and lift the rectangular paymentsign with stand, then turn it to show the QR code.", + "Grab the white stand sign, lift it from the table, and rotate it QR front", + "Use the right arm to lift the paymentsign with QR code area and rotate it QR code toward you.", + "Lift the smooth plastic paymentsign with QR code with the right arm, then rotate it to make the qrcode visible.", + "Catch the tabletop paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the white paymentsign with raised base, rotate, and face the QR code towards you.", + "Use the right arm to pick the rectangular paymentsign with stand and turn it towards you.", + "Pick the plastic smooth paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to lift the plastic smooth paymentsign from the table and face the qrcode.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Grab the paymentsign with QR code area, pick it up, and turn its qrcode toward you.", + "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you", + "Lift the white stand sign and rotate for its qrcode to face you.", + "Use the right arm to take the sign with yellow payment section and turn it until the QR code faces you", + "Lift the smooth plastic paymentsign with QR code from the surface and adjust its angle towards you", + "Catch the paymentsign with the right arm, then rotate it to make the QR code visible.", + "Catch the yellow panel white paymentsign, lift it, and turn the qrcode towards you.", + "Catch the sign with yellow payment section, pick it up, and rotate to show the QR code.", + "Grab the sign with yellow payment section with the right arm, then rotate it to face yourself.", + "Locate the white stand sign, pick it up, and adjust its angle." + ], + "unseen": [ + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode31.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..cf8223193341acbf504650cd0749cd95205bc0c7 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the white stand sign from the table and turn it to face you.", + "Use the right arm to lift the white rectangular paymentsign with yellow details from the table and face the qrcode.", + "Lift the white paymentsign with raised base from the table and rotate it so the code faces you.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it towards you", + "Grab the tabletop paymentsign, lift it from the table, and rotate it QR front", + "Lift the smooth plastic paymentsign with QR code and rotate until its qrcode faces you.", + "Use the right arm to take the white stand sign and turn it until the QR code faces you", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to view the qrcode.", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Catch the smooth plastic paymentsign with QR code, lift it, and turn the qrcode towards you.", + "Catch and lift the plastic smooth paymentsign, then turn it to show the QR code.", + "Lift the smooth plastic paymentsign with QR code from the table, turning it QR code forward.", + "Grab the white stand sign, pick it up, and turn its qrcode toward you.", + "Lift the white paymentsign with raised base and orient its QR code toward you with the right arm.", + "Catch the white paymentsign with raised base, lift it, and rotate it QR code facing.", + "Grab the tabletop paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the sign with yellow payment section and point its QR code toward you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Lift the paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the white paymentsign with raised base, pick it up, and rotate to show the QR code.", + "Using the right arm, catch the yellow and white payment display and rotate it to face the QR code.", + "Use the right arm to pick the white stand sign and turn it towards you.", + "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Pick the rectangular paymentsign with stand up and turn its QR code toward you using the right arm.", + "Grab the white stand sign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the smooth plastic paymentsign with QR code, rotate, and face the QR code towards you.", + "Catch the white rectangular paymentsign with yellow details, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Use the right arm to grab the sign with yellow payment section and rotate the qrcode to face you.", + "Pick the rectangular paymentsign with stand up, then rotate to make its qrcode visible.", + "Take the yellow and white payment display, raise it, and make the qrcode face you.", + "Grab the paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Grab the rectangular paymentsign with stand using the right arm, lift, and rotate until QR code faces you.", + "Lift the tabletop paymentsign and rotate it until the QR code faces you.", + "Use the right arm to lift the rectangular paymentsign with stand and rotate it QR code toward you.", + "Take the smooth plastic paymentsign with QR code, lift it, and orient it so the QR faces you", + "Use the right arm to grab the plastic smooth paymentsign and rotate it until the QR faces forward", + "Catch the rectangular paymentsign with stand with the right arm, then rotate it to make the QR code visible.", + "Pick up the smooth plastic paymentsign with QR code and rotate it so the QR code faces you", + "Lift the smooth plastic paymentsign with QR code and rotate for its qrcode to face you.", + "Pick the yellow panel white paymentsign up, rotate it, and ensure the QR code faces you.", + "Locate the yellow panel white paymentsign, pick it up, and adjust its angle.", + "Find the yellow panel white paymentsign, grab it, and turn it towards yourself.", + "Catch the white paymentsign with raised base, lift, and rotate to align the qrcode to you.", + "Take the paymentsign with QR code area from the table, rotating it QR code toward you.", + "Use the right arm to grab the yellow and white payment display and rotate QR code towards you.", + "Pick up the white stand sign and adjust its position to face the qrcode towards you.", + "Employ the right arm to seize the white rectangular paymentsign with yellow details, raise it, and rotate it QR-forward", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Use the right arm to lift the rectangular paymentsign with stand from the table and face the qrcode.", + "Lift the sign with yellow payment section from the table and rotate it so the code faces you.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Grab the sign with yellow payment section, lift it from the table, and rotate it QR front", + "Lift the smooth plastic paymentsign with QR code and rotate until its qrcode faces you.", + "Use the right arm to take the yellow and white payment display and turn it until the QR code faces you", + "Catch the white stand sign, pick it up, and rotate to view the qrcode.", + "Catch the tabletop paymentsign off the table and rotate its qrcode to you.", + "Lift the yellow panel white paymentsign from the surface and adjust its angle towards you", + "Catch the plastic smooth paymentsign, lift it, and turn the qrcode towards you.", + "Catch and lift the paymentsign with QR code area, then turn it to show the QR code.", + "Lift the yellow panel white paymentsign from the table, turning it QR code forward.", + "Grab the plastic smooth paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the white stand sign and orient its QR code toward you with the right arm.", + "Catch the yellow panel white paymentsign, lift it, and rotate it QR code facing.", + "Grab the smooth plastic paymentsign with QR code with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the white stand sign and point its QR code toward you.", + "Catch the sign with yellow payment section, raise it, and turn it so the QR code faces you", + "Slide the plastic smooth paymentsign off the table and turn it to face you.", + "Lift the white paymentsign with raised base with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Using the right arm, catch the yellow panel white paymentsign and rotate it to face the QR code.", + "Use the right arm to pick the white stand sign and turn it towards you.", + "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Pick the smooth plastic paymentsign with QR code up and turn its QR code toward you using the right arm.", + "Grab the plastic smooth paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the white stand sign, rotate, and face the QR code towards you.", + "Catch the plastic smooth paymentsign, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the paymentsign, lift, and turn it QR code forward", + "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate the qrcode to face you.", + "Pick the white rectangular paymentsign with yellow details up, then rotate to make its qrcode visible.", + "Take the yellow and white payment display, raise it, and make the qrcode face you.", + "Grab the paymentsign with QR code area using the right arm, then rotate it until the qrcode faces you.", + "Grab the plastic smooth paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the tabletop paymentsign and rotate it until the QR code faces you.", + "Use the right arm to lift the smooth plastic paymentsign with QR code and rotate it QR code toward you.", + "Take the smooth plastic paymentsign with QR code, lift it, and orient it so the QR faces you", + "Use the right arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Catch the yellow panel white paymentsign with the right arm, then rotate it to make the QR code visible.", + "Pick up the plastic smooth paymentsign and rotate it so the QR code faces you", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Pick the paymentsign with QR code area up, rotate it, and ensure the QR code faces you.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Find the smooth plastic paymentsign with QR code, grab it, and turn it towards yourself.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Take the white stand sign from the table, rotating it QR code toward you.", + "Use the right arm to grab the paymentsign and rotate QR code towards you.", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Employ the right arm to seize the yellow and white payment display, raise it, and rotate it QR-forward" + ], + "unseen": [ + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode32.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..04f756bfb80c9821262df3c3ed5ecc784f59c9e7 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the triangular stand with QR code using the left arm, lift, and rotate until QR code faces you.", + "Pick the slanted gray panel for QR code scan up, rotate it, and ensure the QR code faces you.", + "Employ the left arm to seize the payment sign with green logo, raise it, and rotate it QR-forward", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Take the small black stand for payments, raise it, and make the qrcode face you.", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Catch the triangular stand with QR code, lift it, and adjust its QR code to face you.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Catch the payment sign with green logo, lift it, and rotate it QR code facing.", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Using the left arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Use the left arm to grab the payment sign with angled face and rotate the qrcode to face you.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Lift the payment sign with green logo and orient its QR code toward you with the left arm.", + "Lift the black base with tilted gray panel with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to take the paymentsign and turn it until the QR code faces you", + "Catch the black base with tilted gray panel, pick it up, and rotate to show the QR code.", + "Catch the green payment logo on gray top, pick it up, and rotate to view the qrcode.", + "Lift the gray slanted panel with text and rotate until its qrcode faces you.", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Grab the gray top with QR code, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Use the left arm to lift the slanted gray panel for QR code scan from the table and face the qrcode.", + "Use the left arm to grab the small payment stand with black base, lift, and turn it QR code forward", + "Catch the green payment logo on gray top using the left arm, pick it up, and turn it to face the QR code.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Catch the small payment stand with black base with the left arm, then rotate it to make the QR code visible.", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Find the payment sign with angled face, grab it, and turn it towards yourself.", + "Use the left arm to grab the payment sign with angled face and point its QR code toward you.", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the left arm.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Grab the small black stand for payments, lift it from the table, and rotate it QR front", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Lift the paymentsign and rotate it until the QR code faces you.", + "Use the left arm to grab the triangular stand with QR code and rotate QR code towards you.", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Locate the gray slanted panel with text, pick it up, and adjust its angle.", + "Use the left arm to lift the payment sign with green logo and rotate it QR code toward you.", + "Catch the small payment stand with black base off the table and rotate its qrcode to you.", + "Pick up the slanted gray panel for QR code scan and rotate it so the QR code faces you", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Grab the small black stand for payments using the left arm, then rotate it until the qrcode faces you.", + "Catch the black base with tilted gray panel, lift, and rotate to align the qrcode to you.", + "Take the slanted gray panel for QR code scan from the table, rotating it QR code toward you.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Lift the gray slanted panel with text from the table and rotate it so the code faces you.", + "Use the left arm to pick the gray top with QR code and turn it towards you.", + "Grab the payment sign with angled face with the left arm, then rotate it to face yourself.", + "Lift the gray slanted panel with text from the table and rotate it towards you", + "Grab the small payment stand with black base using the left arm, lift, and rotate until QR code faces you.", + "Pick the green payment logo on gray top up, rotate it, and ensure the QR code faces you.", + "Employ the left arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Lift the black base with tilted gray panel and rotate for its qrcode to face you.", + "Take the triangular stand with QR code, raise it, and make the qrcode face you.", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Take the payment sign with green logo, lift it, and orient it so the QR faces you", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Using the left arm, catch the paymentsign and rotate it to face the QR code.", + "Use the left arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Catch and lift the slanted gray panel for QR code scan, then turn it to show the QR code.", + "Lift the black base with tilted gray panel and orient its QR code toward you with the left arm.", + "Lift the small black stand for payments with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to take the black base with tilted gray panel and turn it until the QR code faces you", + "Catch the tabletop-sized payment sign, pick it up, and rotate to show the QR code.", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Lift the small black stand for payments and rotate until its qrcode faces you.", + "Catch the small payment stand with black base, lift it, and turn the qrcode towards you.", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the payment sign with green logo, rotate, and face the QR code towards you.", + "Use the left arm to lift the black base with tilted gray panel from the table and face the qrcode.", + "Use the left arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Catch the slanted gray panel for QR code scan with the left arm, then rotate it to make the QR code visible.", + "Pick the payment sign with green logo up, then rotate to make its qrcode visible.", + "Find the small payment stand with black base, grab it, and turn it towards yourself.", + "Use the left arm to grab the gray slanted panel with text and point its QR code toward you.", + "Pick the slanted gray panel for QR code scan up and turn its QR code toward you using the left arm.", + "Catch the green payment logo on gray top, raise it, and turn it so the QR code faces you", + "Grab the payment sign with green logo, lift it from the table, and rotate it QR front", + "Slide the payment sign with angled face off the table and turn it to face you.", + "Lift the green payment logo on gray top and rotate it until the QR code faces you.", + "Use the left arm to grab the small payment stand with black base and rotate QR code towards you.", + "Lift the paymentsign from the table and turn it to face you.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Use the left arm to lift the black base with tilted gray panel and rotate it QR code toward you.", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Pick up the gray slanted panel with text and rotate it so the QR code faces you", + "Pick up the gray top with QR code and adjust its position to face the qrcode towards you.", + "Grab the triangular stand with QR code using the left arm, then rotate it until the qrcode faces you.", + "Catch the payment sign with green logo, lift, and rotate to align the qrcode to you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Lift the small black stand for payments from the table, turning it QR code forward.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Use the left arm to pick the slanted gray panel for QR code scan and turn it towards you.", + "Grab the triangular stand with QR code with the left arm, then rotate it to face yourself.", + "Lift the triangular stand with QR code from the table and rotate it towards you" + ], + "unseen": [ + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode33.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..a3b341097b8f20803bb4c7fcfe3b6c149091ec4d --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Use the left arm to grab the paymentsign for scanning QR codes and rotate it until the QR faces forward", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Lift the blue and white paymentsign and rotate for its qrcode to face you.", + "Catch the blue and white rectangular paymentsign with the left arm, then rotate it to make the QR code visible.", + "Catch the blue and white rectangular paymentsign, lift it, and rotate it QR code facing.", + "Pick the paymentsign with glossy blue panel up, rotate it, and ensure the QR code faces you.", + "Grab the tabletop paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Employ the left arm to seize the blue and white paymentsign, raise it, and rotate it QR-forward", + "Grab the tabletop paymentsign using the left arm, then rotate the QR code to face forward.", + "Take the paymentsign with glossy blue panel from the table, rotating it QR code toward you.", + "Catch the small paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Slide the small paymentsign with stand off the table and turn it to face you.", + "Use the left arm to grab the smooth surface paymentsign and rotate QR code towards you.", + "Take the blue and white rectangular paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to grab the smooth surface paymentsign and rotate the qrcode to face you.", + "Catch and lift the rectangular plastic paymentsign with codes, then turn it to show the QR code.", + "Find the small paymentsign with stand, grab it, and turn it towards yourself.", + "Catch the rectangular plastic paymentsign with codes using the left arm, pick it up, and turn it to face the QR code.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to show the QR code.", + "Use the left arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Catch the tabletop paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the blue and white rectangular paymentsign, rotate, and face the QR code towards you.", + "Use the left arm to lift the tabletop paymentsign from the table and face the qrcode.", + "Grab the paymentsign with angled black stand, lift it from the table, and rotate it QR front", + "Use the left arm to grab the rectangular plastic paymentsign and point its QR code toward you.", + "Pick the smooth surface paymentsign up, then rotate to make its qrcode visible.", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Catch the small glossy paymentsign, lift it, and adjust its QR code to face you.", + "Grab the small glossy paymentsign with the left arm, then rotate it to face yourself.", + "Use the left arm to pick the paymentsign for scanning QR codes and turn it towards you.", + "Catch the paymentsign for scanning QR codes, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the blue and white rectangular paymentsign and rotate it QR code toward you.", + "Lift the small glossy paymentsign and orient its QR code toward you with the left arm.", + "Lift the smooth surface paymentsign from the table and rotate it so the code faces you.", + "Lift the small paymentsign with stand with the left arm, then rotate it to make the qrcode visible.", + "Pick up the paymentsign for scanning QR codes and adjust its position to face the qrcode towards you.", + "Lift the rectangular plastic paymentsign from the table and rotate it towards you", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to view the qrcode.", + "Catch the small glossy paymentsign off the table and rotate its qrcode to you.", + "Grab the paymentsign with angled black stand, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign for scanning QR codes from the table and turn it to face you.", + "Use the left arm to grab the small paymentsign with stand, lift, and turn it QR code forward", + "Lift the small glossy paymentsign and rotate it until the QR code faces you.", + "Take the paymentsign with glossy blue panel, lift it, and orient it so the QR faces you", + "Using the left arm, catch the paymentsign for scanning QR codes and rotate it to face the QR code.", + "Grab the paymentsign for scanning QR codes using the left arm, then rotate it until the qrcode faces you.", + "Pick up the blue and white rectangular paymentsign and rotate it so the QR code faces you", + "Lift the rectangular plastic paymentsign with codes from the surface and adjust its angle towards you", + "Pick the paymentsign with angled black stand up and turn its QR code toward you using the left arm.", + "Lift the small glossy paymentsign from the table, turning it QR code forward.", + "Use the left arm to grab the paymentsign with printed QR codes and rotate it until the QR faces forward", + "Locate the small glossy paymentsign, pick it up, and adjust its angle.", + "Lift the blue and white paymentsign and rotate for its qrcode to face you.", + "Catch the small glossy paymentsign with the left arm, then rotate it to make the QR code visible.", + "Catch the blue and white rectangular paymentsign, lift it, and rotate it QR code facing.", + "Pick the small paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign with angled black stand using the left arm, lift, and rotate until QR code faces you.", + "Employ the left arm to seize the paymentsign for scanning QR codes, raise it, and rotate it QR-forward", + "Grab the paymentsign with angled black stand using the left arm, then rotate the QR code to face forward.", + "Take the small glossy paymentsign from the table, rotating it QR code toward you.", + "Catch the paymentsign with printed QR codes, lift, and rotate to align the qrcode to you.", + "Slide the paymentsign with glossy blue panel off the table and turn it to face you.", + "Use the left arm to grab the paymentsign with glossy blue panel and rotate QR code towards you.", + "Take the blue and white paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to grab the small paymentsign with stand and rotate the qrcode to face you.", + "Catch and lift the blue and white paymentsign, then turn it to show the QR code.", + "Find the blue and white rectangular paymentsign, grab it, and turn it towards yourself.", + "Catch the blue and white rectangular paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to show the QR code.", + "Use the left arm to take the small paymentsign with stand and turn it until the QR code faces you", + "Catch the small glossy paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the blue and white rectangular paymentsign, rotate, and face the QR code towards you.", + "Use the left arm to lift the small paymentsign with stand from the table and face the qrcode.", + "Grab the blue and white rectangular paymentsign, lift it from the table, and rotate it QR front", + "Use the left arm to grab the blue and white rectangular paymentsign and point its QR code toward you.", + "Pick the blue and white paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Catch the rectangular plastic paymentsign with codes, lift it, and adjust its QR code to face you.", + "Grab the tabletop paymentsign with the left arm, then rotate it to face yourself.", + "Use the left arm to pick the small paymentsign with stand and turn it towards you.", + "Catch the paymentsign for scanning QR codes, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the smooth surface paymentsign and rotate it QR code toward you.", + "Lift the paymentsign with angled black stand and orient its QR code toward you with the left arm.", + "Lift the blue and white rectangular paymentsign from the table and rotate it so the code faces you.", + "Lift the rectangular plastic paymentsign with codes with the left arm, then rotate it to make the qrcode visible.", + "Pick up the blue and white rectangular paymentsign and adjust its position to face the qrcode towards you.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Catch the small glossy paymentsign, pick it up, and rotate to view the qrcode.", + "Catch the paymentsign with printed QR codes off the table and rotate its qrcode to you.", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the blue and white paymentsign from the table and turn it to face you.", + "Use the left arm to grab the smooth surface paymentsign, lift, and turn it QR code forward", + "Lift the smooth surface paymentsign and rotate it until the QR code faces you.", + "Take the small glossy paymentsign, lift it, and orient it so the QR faces you", + "Using the left arm, catch the blue and white rectangular paymentsign and rotate it to face the QR code.", + "Grab the paymentsign with printed QR codes using the left arm, then rotate it until the qrcode faces you.", + "Pick up the smooth surface paymentsign and rotate it so the QR code faces you", + "Lift the smooth surface paymentsign from the surface and adjust its angle towards you", + "Pick the paymentsign with printed QR codes up and turn its QR code toward you using the left arm." + ], + "unseen": [ + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode34.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..615e8dc8a79d344069c8a0c94a8b28fe4ee96bf1 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the rectangular paymentsign with colorful top and turn it towards you.", + "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you", + "Slide the rectangular paymentsign with colorful top off the table and turn it to face you.", + "Using the right arm, catch the paymentsign with tilted rectangular panel and rotate it to face the QR code.", + "Lift the stand-up paymentsign with rectangular top with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward", + "Catch the compact paymentsign for scanning payments with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the smooth beige paymentsign and rotate QR code towards you.", + "Grab the paymentsign showing QR code label with the right arm, then rotate it to face yourself.", + "Take the QR code paymentsign, lift it, and orient it so the QR faces you", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the compact paymentsign for scanning payments, rotate, and face the QR code towards you.", + "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.", + "Lift the beige paymentsign from the table and rotate it so the code faces you.", + "Pick the beige paymentsign up and turn its QR code toward you using the right arm.", + "Locate the smooth beige paymentsign, pick it up, and adjust its angle.", + "Lift the smooth beige paymentsign from the table and rotate it towards you", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Catch the beige paymentsign with printed details, lift it, and adjust its QR code to face you.", + "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.", + "Grab the beige paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Lift the paymentsign with tilted rectangular panel and rotate until its qrcode faces you.", + "Use the right arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Catch the rectangular paymentsign with colorful top using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign showing QR code label, lift it, and rotate it QR code facing.", + "Catch the QR code paymentsign, raise it, and turn it so the QR code faces you", + "Pick the paymentsign with tilted rectangular panel up, rotate it, and ensure the QR code faces you.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Use the right arm to lift the small paymentsign for mobile payments from the table and face the qrcode.", + "Lift the smooth beige paymentsign from the table, turning it QR code forward.", + "Use the right arm to grab the paymentsign with blue and white text and point its QR code toward you.", + "Employ the right arm to seize the beige paymentsign with printed details, raise it, and rotate it QR-forward", + "Find the smooth beige paymentsign, grab it, and turn it towards yourself.", + "Grab the rectangular paymentsign with colorful top using the right arm, lift, and rotate until QR code faces you.", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Use the right arm to take the paymentsign with blue and white text and turn it until the QR code faces you", + "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the right arm.", + "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.", + "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to show the QR code.", + "Pick up the rectangular paymentsign with colorful top and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.", + "Grab the beige paymentsign with printed details using the right arm, then rotate the QR code to face forward.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Lift the compact paymentsign for scanning payments and rotate it until the QR code faces you.", + "Pick the beige paymentsign with printed details up, then rotate to make its qrcode visible.", + "Use the right arm to pick the paymentsign resting on angled base and turn it towards you.", + "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you", + "Slide the small paymentsign for mobile payments off the table and turn it to face you.", + "Using the right arm, catch the beige paymentsign and rotate it to face the QR code.", + "Lift the paymentsign resting on angled base with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Catch the paymentsign showing QR code label with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the beige paymentsign and rotate QR code towards you.", + "Grab the paymentsign with blue and white text with the right arm, then rotate it to face yourself.", + "Take the paymentsign with blue and white text, lift it, and orient it so the QR faces you", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the small paymentsign for mobile payments, rotate, and face the QR code towards you.", + "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to view the qrcode.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.", + "Pick the beige paymentsign up and turn its QR code toward you using the right arm.", + "Locate the paymentsign with blue and white text, pick it up, and adjust its angle.", + "Lift the paymentsign resting on angled base from the table and rotate it towards you", + "Catch the paymentsign showing QR code label, lift it, and turn the qrcode towards you.", + "Catch the paymentsign resting on angled base, lift it, and adjust its QR code to face you.", + "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.", + "Grab the paymentsign showing QR code label using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to lift the compact paymentsign for scanning payments and rotate it QR code toward you.", + "Lift the QR code paymentsign and rotate until its qrcode faces you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward", + "Catch the paymentsign with tilted rectangular panel using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.", + "Catch the stand-up paymentsign with rectangular top, raise it, and turn it so the QR code faces you", + "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch and lift the stand-up paymentsign with rectangular top, then turn it to show the QR code.", + "Use the right arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Lift the beige paymentsign with printed details from the table, turning it QR code forward.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and point its QR code toward you.", + "Employ the right arm to seize the compact paymentsign for scanning payments, raise it, and rotate it QR-forward", + "Find the smooth beige paymentsign, grab it, and turn it towards yourself.", + "Grab the small paymentsign for mobile payments using the right arm, lift, and rotate until QR code faces you.", + "Lift the beige paymentsign from the table and turn it to face you.", + "Use the right arm to take the paymentsign with tilted rectangular panel and turn it until the QR code faces you", + "Pick up the paymentsign with tilted rectangular panel and rotate it so the QR code faces you", + "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front", + "Lift the small paymentsign for mobile payments and orient its QR code toward you with the right arm.", + "Catch the QR code paymentsign, lift, and rotate to align the qrcode to you.", + "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to show the QR code.", + "Pick up the small paymentsign for mobile payments and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Grab the paymentsign showing QR code label using the right arm, then rotate the QR code to face forward.", + "Catch the beige paymentsign off the table and rotate its qrcode to you.", + "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.", + "Pick the beige paymentsign up, then rotate to make its qrcode visible." + ], + "unseen": [ + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode35.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..d68114d337d1ad96defaad95d5a3f254b6901d07 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Grab the paymentsign with blue and white text using the right arm, then rotate it until the qrcode faces you.", + "Lift the beige paymentsign from the surface and adjust its angle towards you", + "Grab the paymentsign showing QR code label using the right arm, lift, and rotate until QR code faces you.", + "Using the right arm, catch the small paymentsign for mobile payments and rotate it to face the QR code.", + "Catch the paymentsign resting on angled base off the table and rotate its qrcode to you.", + "Pick the paymentsign with blue and white text up, then rotate to make its qrcode visible.", + "Grab the compact paymentsign for scanning payments using the right arm, then rotate the QR code to face forward.", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the right arm.", + "Lift the stand-up paymentsign with rectangular top with the right arm, then rotate it to make the qrcode visible.", + "Lift the rectangular paymentsign with colorful top and rotate for its qrcode to face you.", + "Use the right arm to grab the paymentsign resting on angled base and point its QR code toward you.", + "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you", + "Take the QR code paymentsign from the table, rotating it QR code toward you.", + "Use the right arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Catch and lift the smooth beige paymentsign, then turn it to show the QR code.", + "Use the right arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Employ the right arm to seize the paymentsign with tilted rectangular panel, raise it, and rotate it QR-forward", + "Lift the paymentsign resting on angled base and rotate it until the QR code faces you.", + "Use the right arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the compact paymentsign for scanning payments, lift, and turn it QR code forward", + "Locate the beige paymentsign with printed details, pick it up, and adjust its angle.", + "Use the right arm to lift the beige paymentsign from the table and face the qrcode.", + "Catch the beige paymentsign with the right arm, then rotate it to make the QR code visible.", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Lift the QR code paymentsign from the table and turn it to face you.", + "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you", + "Pick up the paymentsign showing QR code label and adjust its position to face the qrcode towards you.", + "Catch the smooth beige paymentsign, pick it up, and rotate to view the qrcode.", + "Catch the rectangular paymentsign with colorful top using the right arm, pick it up, and turn it to face the QR code.", + "Lift the QR code paymentsign and orient its QR code toward you with the right arm.", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Grab the beige paymentsign with printed details, pick it up, and turn its qrcode toward you.", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Use the right arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Use the right arm to pick the paymentsign showing QR code label and turn it towards you.", + "Take the beige paymentsign with printed details, raise it, and make the qrcode face you.", + "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate it until the QR faces forward", + "Use the right arm to grab the paymentsign resting on angled base and rotate QR code towards you.", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to show the QR code.", + "Grab the small paymentsign for mobile payments with the right arm, then rotate it to face yourself.", + "Catch the small paymentsign for mobile payments, raise it, and turn it so the QR code faces you", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Catch the beige paymentsign, lift it, and rotate it QR code facing.", + "Lift the paymentsign with blue and white text from the table, turning it QR code forward.", + "Lift the small paymentsign for mobile payments from the table and rotate it towards you", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Lift the beige paymentsign with printed details from the table and rotate it so the code faces you.", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Grab the stand-up paymentsign with rectangular top using the right arm, then rotate it until the qrcode faces you.", + "Lift the rectangular paymentsign with colorful top from the surface and adjust its angle towards you", + "Grab the paymentsign showing QR code label using the right arm, lift, and rotate until QR code faces you.", + "Using the right arm, catch the small paymentsign for mobile payments and rotate it to face the QR code.", + "Catch the beige paymentsign off the table and rotate its qrcode to you.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Grab the paymentsign with tilted rectangular panel using the right arm, then rotate the QR code to face forward.", + "Pick the paymentsign with blue and white text up and turn its QR code toward you using the right arm.", + "Lift the rectangular paymentsign with colorful top with the right arm, then rotate it to make the qrcode visible.", + "Lift the beige paymentsign with printed details and rotate for its qrcode to face you.", + "Use the right arm to grab the beige paymentsign and point its QR code toward you.", + "Take the paymentsign with blue and white text, lift it, and orient it so the QR faces you", + "Take the paymentsign resting on angled base from the table, rotating it QR code toward you.", + "Use the right arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Catch and lift the smooth beige paymentsign, then turn it to show the QR code.", + "Use the right arm to grab the paymentsign resting on angled base and rotate the qrcode to face you.", + "Employ the right arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward", + "Lift the paymentsign with blue and white text and rotate it until the QR code faces you.", + "Use the right arm to grab the compact paymentsign for scanning payments, rotate, and face the QR code towards you.", + "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward", + "Locate the beige paymentsign with printed details, pick it up, and adjust its angle.", + "Use the right arm to lift the QR code paymentsign from the table and face the qrcode.", + "Catch the QR code paymentsign with the right arm, then rotate it to make the QR code visible.", + "Catch the smooth beige paymentsign, lift it, and adjust its QR code to face you.", + "Lift the beige paymentsign from the table and turn it to face you.", + "Pick up the QR code paymentsign and rotate it so the QR code faces you", + "Pick up the compact paymentsign for scanning payments and adjust its position to face the qrcode towards you.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to view the qrcode.", + "Catch the small paymentsign for mobile payments using the right arm, pick it up, and turn it to face the QR code.", + "Lift the rectangular paymentsign with colorful top and orient its QR code toward you with the right arm.", + "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.", + "Grab the compact paymentsign for scanning payments, pick it up, and turn its qrcode toward you.", + "Slide the beige paymentsign off the table and turn it to face you.", + "Use the right arm to take the paymentsign showing QR code label and turn it until the QR code faces you", + "Use the right arm to pick the paymentsign showing QR code label and turn it towards you.", + "Take the paymentsign resting on angled base, raise it, and make the qrcode face you.", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the beige paymentsign and rotate it until the QR faces forward", + "Use the right arm to grab the paymentsign resting on angled base and rotate QR code towards you.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to show the QR code.", + "Grab the paymentsign with tilted rectangular panel with the right arm, then rotate it to face yourself.", + "Catch the beige paymentsign with printed details, raise it, and turn it so the QR code faces you", + "Grab the beige paymentsign, lift it from the table, and rotate it QR front", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Catch the beige paymentsign with printed details, lift it, and turn the qrcode towards you.", + "Lift the beige paymentsign with printed details from the table and rotate it so the code faces you." + ], + "unseen": [ + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode36.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..ff98cb97a47fe2e5fab72a616ef5c1b2fad20263 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the right arm.", + "Pick up the stand-up paymentsign with rectangular top and adjust its position to face the qrcode towards you.", + "Use the right arm to lift the paymentsign showing QR code label and rotate it QR code toward you.", + "Find the beige paymentsign with printed details, grab it, and turn it towards yourself.", + "Use the right arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Pick the compact paymentsign for scanning payments up and turn its QR code toward you using the right arm.", + "Grab the QR code paymentsign, pick it up, and turn its qrcode toward you.", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate the QR code to face forward.", + "Lift the stand-up paymentsign with rectangular top with the right arm, then rotate it to make the qrcode visible.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to show the QR code.", + "Catch the paymentsign resting on angled base, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate the qrcode to face you.", + "Using the right arm, catch the paymentsign resting on angled base and rotate it to face the QR code.", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Catch the beige paymentsign, lift it, and rotate it QR code facing.", + "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you", + "Catch the small paymentsign for mobile payments off the table and rotate its qrcode to you.", + "Catch the compact paymentsign for scanning payments using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to pick the rectangular paymentsign with colorful top and turn it towards you.", + "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the paymentsign showing QR code label and point its QR code toward you.", + "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you.", + "Take the paymentsign with tilted rectangular panel from the table, rotating it QR code toward you.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate it until the QR faces forward", + "Lift the beige paymentsign from the table and turn it to face you.", + "Use the right arm to grab the QR code paymentsign, lift, and turn it QR code forward", + "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.", + "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the beige paymentsign and rotate QR code towards you.", + "Employ the right arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Grab the paymentsign resting on angled base with the right arm, then rotate it to face yourself.", + "Lift the paymentsign with blue and white text from the table and rotate it towards you", + "Locate the compact paymentsign for scanning payments, pick it up, and adjust its angle.", + "Grab the paymentsign showing QR code label using the right arm, then rotate it until the qrcode faces you.", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Slide the compact paymentsign for scanning payments off the table and turn it to face you.", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Grab the beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch and lift the rectangular paymentsign with colorful top, then turn it to show the QR code.", + "Catch the smooth beige paymentsign with the right arm, then rotate it to make the QR code visible.", + "Lift the beige paymentsign with printed details and rotate until its qrcode faces you.", + "Lift the paymentsign with blue and white text from the surface and adjust its angle towards you", + "Use the right arm to lift the rectangular paymentsign with colorful top from the table and face the qrcode.", + "Pick the beige paymentsign up, then rotate to make its qrcode visible.", + "Lift the small paymentsign for mobile payments from the table, turning it QR code forward.", + "Lift the small paymentsign for mobile payments from the table and rotate it so the code faces you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Lift the QR code paymentsign and orient its QR code toward you with the right arm.", + "Pick up the paymentsign showing QR code label and adjust its position to face the qrcode towards you.", + "Use the right arm to lift the paymentsign with blue and white text and rotate it QR code toward you.", + "Find the QR code paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to take the paymentsign with blue and white text and turn it until the QR code faces you", + "Pick the paymentsign showing QR code label up and turn its QR code toward you using the right arm.", + "Grab the paymentsign with tilted rectangular panel, pick it up, and turn its qrcode toward you.", + "Grab the stand-up paymentsign with rectangular top using the right arm, then rotate the QR code to face forward.", + "Lift the paymentsign with blue and white text with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to show the QR code.", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the QR code paymentsign and rotate the qrcode to face you.", + "Using the right arm, catch the paymentsign showing QR code label and rotate it to face the QR code.", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Take the paymentsign with tilted rectangular panel, lift it, and orient it so the QR faces you", + "Catch the QR code paymentsign off the table and rotate its qrcode to you.", + "Catch the beige paymentsign with printed details using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to pick the paymentsign with blue and white text and turn it towards you.", + "Catch the paymentsign showing QR code label, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the paymentsign resting on angled base and point its QR code toward you.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Use the right arm to grab the paymentsign with blue and white text and rotate it until the QR faces forward", + "Lift the beige paymentsign from the table and turn it to face you.", + "Use the right arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward", + "Catch the QR code paymentsign, lift, and rotate to align the qrcode to you.", + "Take the QR code paymentsign, raise it, and make the qrcode face you.", + "Catch the paymentsign resting on angled base, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the paymentsign with blue and white text and rotate QR code towards you.", + "Employ the right arm to seize the rectangular paymentsign with colorful top, raise it, and rotate it QR-forward", + "Lift the beige paymentsign with printed details and rotate for its qrcode to face you.", + "Grab the beige paymentsign with printed details with the right arm, then rotate it to face yourself.", + "Lift the beige paymentsign from the table and rotate it towards you", + "Locate the beige paymentsign with printed details, pick it up, and adjust its angle.", + "Grab the beige paymentsign with printed details using the right arm, then rotate it until the qrcode faces you.", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, rotate, and face the QR code towards you.", + "Slide the paymentsign showing QR code label off the table and turn it to face you.", + "Lift the paymentsign with tilted rectangular panel and rotate it until the QR code faces you.", + "Grab the small paymentsign for mobile payments using the right arm, lift, and rotate until QR code faces you.", + "Catch and lift the rectangular paymentsign with colorful top, then turn it to show the QR code.", + "Catch the beige paymentsign with printed details with the right arm, then rotate it to make the QR code visible.", + "Lift the rectangular paymentsign with colorful top and rotate until its qrcode faces you.", + "Lift the smooth beige paymentsign from the surface and adjust its angle towards you", + "Use the right arm to lift the paymentsign with blue and white text from the table and face the qrcode.", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.", + "Lift the beige paymentsign with printed details from the table and rotate it so the code faces you." + ], + "unseen": [ + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode37.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..5525eef52955625864a324df3ea55ea4608652fe --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the paymentsign with glossy blue panel, rotate, and face the QR code towards you.", + "Catch the small paymentsign with stand, lift it, and adjust its QR code to face you.", + "Pick up the blue and white rectangular paymentsign and rotate it so the QR code faces you", + "Slide the paymentsign for scanning QR codes off the table and turn it to face you.", + "Pick up the paymentsign with glossy blue panel and adjust its position to face the qrcode towards you.", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Catch the paymentsign for scanning QR codes, pick it up, and rotate to view the qrcode.", + "Lift the rectangular plastic paymentsign with codes with the left arm, then rotate it to make the qrcode visible.", + "Grab the smooth surface paymentsign with the left arm, then rotate it to face yourself.", + "Lift the paymentsign with printed QR codes from the table and turn it to face you.", + "Catch the tabletop paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Employ the left arm to seize the paymentsign with angled black stand, raise it, and rotate it QR-forward", + "Use the left arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Lift the blue and white rectangular paymentsign from the table and rotate it towards you", + "Lift the smooth surface paymentsign and orient its QR code toward you with the left arm.", + "Grab the paymentsign with glossy blue panel using the left arm, then rotate the QR code to face forward.", + "Use the left arm to lift the rectangular plastic paymentsign and rotate it QR code toward you.", + "Use the left arm to grab the blue and white rectangular paymentsign and rotate QR code towards you.", + "Catch the paymentsign for scanning QR codes, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign with glossy blue panel off the table and rotate its qrcode to you.", + "Take the tabletop paymentsign, raise it, and make the qrcode face you.", + "Using the left arm, catch the paymentsign with printed QR codes and rotate it to face the QR code.", + "Lift the blue and white rectangular paymentsign and rotate for its qrcode to face you.", + "Lift the blue and white rectangular paymentsign from the table, turning it QR code forward.", + "Grab the blue and white rectangular paymentsign, lift it from the table, and rotate it QR front", + "Use the left arm to take the small paymentsign with stand and turn it until the QR code faces you", + "Use the left arm to pick the paymentsign with printed QR codes and turn it towards you.", + "Lift the tabletop paymentsign from the surface and adjust its angle towards you", + "Catch the blue and white rectangular paymentsign with the left arm, then rotate it to make the QR code visible.", + "Lift the small glossy paymentsign and rotate it until the QR code faces you.", + "Locate the small paymentsign with stand, pick it up, and adjust its angle.", + "Catch the paymentsign with angled black stand, lift it, and rotate it QR code facing.", + "Use the left arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Catch and lift the paymentsign for scanning QR codes, then turn it to show the QR code.", + "Use the left arm to grab the small paymentsign with stand, lift, and turn it QR code forward", + "Lift the paymentsign with angled black stand from the table and rotate it so the code faces you.", + "Use the left arm to grab the small glossy paymentsign and point its QR code toward you.", + "Take the paymentsign with printed QR codes from the table, rotating it QR code toward you.", + "Pick the paymentsign with angled black stand up and turn its QR code toward you using the left arm.", + "Pick the paymentsign with printed QR codes up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign with glossy blue panel using the left arm, lift, and rotate until QR code faces you.", + "Pick the paymentsign with angled black stand up, then rotate to make its qrcode visible.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to show the QR code.", + "Take the paymentsign with glossy blue panel, lift it, and orient it so the QR faces you", + "Use the left arm to lift the small paymentsign with stand from the table and face the qrcode.", + "Grab the blue and white rectangular paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign for scanning QR codes, raise it, and turn it so the QR code faces you", + "Catch the paymentsign for scanning QR codes, lift it, and turn the qrcode towards you.", + "Grab the smooth surface paymentsign, pick it up, and turn its qrcode toward you.", + "Find the paymentsign for scanning QR codes, grab it, and turn it towards yourself.", + "Use the left arm to grab the small glossy paymentsign, rotate, and face the QR code towards you.", + "Catch the rectangular plastic paymentsign with codes, lift it, and adjust its QR code to face you.", + "Pick up the paymentsign with angled black stand and rotate it so the QR code faces you", + "Slide the paymentsign with angled black stand off the table and turn it to face you.", + "Pick up the blue and white paymentsign and adjust its position to face the qrcode towards you.", + "Lift the paymentsign for scanning QR codes and rotate until its qrcode faces you.", + "Catch the blue and white paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the small paymentsign with stand with the left arm, then rotate it to make the qrcode visible.", + "Grab the smooth surface paymentsign with the left arm, then rotate it to face yourself.", + "Lift the paymentsign with angled black stand from the table and turn it to face you.", + "Catch the rectangular plastic paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Employ the left arm to seize the smooth surface paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to grab the rectangular plastic paymentsign and rotate it until the QR faces forward", + "Lift the paymentsign for scanning QR codes from the table and rotate it towards you", + "Lift the small paymentsign with stand and orient its QR code toward you with the left arm.", + "Grab the paymentsign for scanning QR codes using the left arm, then rotate the QR code to face forward.", + "Use the left arm to lift the rectangular plastic paymentsign and rotate it QR code toward you.", + "Use the left arm to grab the paymentsign with printed QR codes and rotate QR code towards you.", + "Catch the paymentsign with printed QR codes, lift, and rotate to align the qrcode to you.", + "Catch the rectangular plastic paymentsign off the table and rotate its qrcode to you.", + "Take the blue and white paymentsign, raise it, and make the qrcode face you.", + "Using the left arm, catch the rectangular plastic paymentsign and rotate it to face the QR code.", + "Lift the smooth surface paymentsign and rotate for its qrcode to face you.", + "Lift the paymentsign for scanning QR codes from the table, turning it QR code forward.", + "Grab the paymentsign for scanning QR codes, lift it from the table, and rotate it QR front", + "Use the left arm to take the rectangular plastic paymentsign and turn it until the QR code faces you", + "Use the left arm to pick the rectangular plastic paymentsign with codes and turn it towards you.", + "Lift the paymentsign with printed QR codes from the surface and adjust its angle towards you", + "Catch the paymentsign with glossy blue panel with the left arm, then rotate it to make the QR code visible.", + "Lift the blue and white paymentsign and rotate it until the QR code faces you.", + "Locate the rectangular plastic paymentsign with codes, pick it up, and adjust its angle.", + "Catch the paymentsign with printed QR codes, lift it, and rotate it QR code facing.", + "Use the left arm to grab the blue and white rectangular paymentsign and rotate the qrcode to face you.", + "Catch and lift the smooth surface paymentsign, then turn it to show the QR code.", + "Use the left arm to grab the blue and white paymentsign, lift, and turn it QR code forward", + "Lift the paymentsign with angled black stand from the table and rotate it so the code faces you.", + "Use the left arm to grab the small glossy paymentsign and point its QR code toward you.", + "Take the blue and white paymentsign from the table, rotating it QR code toward you.", + "Pick the blue and white paymentsign up and turn its QR code toward you using the left arm.", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Grab the rectangular plastic paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Pick the tabletop paymentsign up, then rotate to make its qrcode visible.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to show the QR code.", + "Take the smooth surface paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to lift the smooth surface paymentsign from the table and face the qrcode.", + "Grab the rectangular plastic paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign for scanning QR codes, raise it, and turn it so the QR code faces you", + "Catch the rectangular plastic paymentsign, lift it, and turn the qrcode towards you.", + "Grab the paymentsign with glossy blue panel, pick it up, and turn its qrcode toward you.", + "Find the blue and white paymentsign, grab it, and turn it towards yourself." + ], + "unseen": [ + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode38.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..e115c02f3ace6c95b9f0f3369be7204ac8d401ac --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Catch the slanted gray panel for QR code scan, lift, and rotate to align the qrcode to you.", + "Lift the green payment logo on gray top and orient its QR code toward you with the left arm.", + "Use the left arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Slide the paymentsign off the table and turn it to face you.", + "Lift the small black stand for payments from the table and turn it to face you.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Lift the triangular stand with QR code and rotate it until the QR code faces you.", + "Grab the triangular stand with QR code using the left arm, then rotate the QR code to face forward.", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Catch the payment sign with angled face, lift it, and turn the qrcode towards you.", + "Employ the left arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Pick up the slanted gray panel for QR code scan and rotate it so the QR code faces you", + "Catch the tabletop-sized payment sign, pick it up, and rotate to view the qrcode.", + "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the small payment stand with black base and point its QR code toward you.", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the left arm.", + "Lift the gray slanted panel with text with the left arm, then rotate it to make the qrcode visible.", + "Grab the slanted gray panel for QR code scan with the left arm, then rotate it to face yourself.", + "Use the left arm to take the gray slanted panel with text and turn it until the QR code faces you", + "Using the left arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Catch the black base with tilted gray panel with the left arm, then rotate it to make the QR code visible.", + "Grab the small black stand for payments using the left arm, lift, and rotate until QR code faces you.", + "Lift the payment sign with green logo and rotate for its qrcode to face you.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Take the gray slanted panel with text, lift it, and orient it so the QR faces you", + "Use the left arm to grab the triangular stand with QR code and rotate it until the QR faces forward", + "Use the left arm to grab the black base with tilted gray panel, rotate, and face the QR code towards you.", + "Pick up the gray top with QR code and adjust its position to face the qrcode towards you.", + "Use the left arm to lift the black base with tilted gray panel from the table and face the qrcode.", + "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.", + "Find the small black stand for payments, grab it, and turn it towards yourself.", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Grab the triangular stand with QR code using the left arm, then rotate it until the qrcode faces you.", + "Lift the payment sign with angled face from the table and rotate it towards you", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the tabletop-sized payment sign and rotate the qrcode to face you.", + "Use the left arm to pick the small payment stand with black base and turn it towards you.", + "Use the left arm to grab the green payment logo on gray top and rotate QR code towards you.", + "Catch the slanted gray panel for QR code scan off the table and rotate its qrcode to you.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign and orient its QR code toward you with the left arm.", + "Use the left arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Lift the small payment stand with black base and rotate it until the QR code faces you.", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Lift the slanted gray panel for QR code scan from the table, turning it QR code forward.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Employ the left arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Catch and lift the small payment stand with black base, then turn it to show the QR code.", + "Pick up the paymentsign and rotate it so the QR code faces you", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to view the qrcode.", + "Catch the green payment logo on gray top, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the gray top with QR code and point its QR code toward you.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Pick the payment sign with angled face up and turn its QR code toward you using the left arm.", + "Lift the slanted gray panel for QR code scan with the left arm, then rotate it to make the qrcode visible.", + "Grab the gray top with QR code with the left arm, then rotate it to face yourself.", + "Use the left arm to take the payment sign with green logo and turn it until the QR code faces you", + "Using the left arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Catch the gray slanted panel with text with the left arm, then rotate it to make the QR code visible.", + "Grab the payment sign with angled face using the left arm, lift, and rotate until QR code faces you.", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it so the code faces you.", + "Pick the tabletop-sized payment sign up, rotate it, and ensure the QR code faces you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Take the black base with tilted gray panel, lift it, and orient it so the QR faces you", + "Use the left arm to grab the triangular stand with QR code and rotate it until the QR faces forward", + "Use the left arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Use the left arm to lift the slanted gray panel for QR code scan from the table and face the qrcode.", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Find the slanted gray panel for QR code scan, grab it, and turn it towards yourself.", + "Take the slanted gray panel for QR code scan, raise it, and make the qrcode face you.", + "Grab the payment sign with green logo using the left arm, then rotate it until the qrcode faces you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it towards you", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Use the left arm to pick the small black stand for payments and turn it towards you.", + "Use the left arm to grab the tabletop-sized payment sign and rotate QR code towards you." + ], + "unseen": [ + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode39.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..170ff837dfe3d2dc43fb7022ee14f06cc8ec8a43 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, catch the triangular stand with QR code and rotate it to face the QR code.", + "Use the left arm to grab the black base with tilted gray panel and rotate QR code towards you.", + "Grab the small black stand for payments using the left arm, lift, and rotate until QR code faces you.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Catch the tabletop-sized payment sign, pick it up, and rotate to show the QR code.", + "Slide the small payment stand with black base off the table and turn it to face you.", + "Lift the small payment stand with black base with the left arm, then rotate it to make the qrcode visible.", + "Grab the slanted gray panel for QR code scan, lift it from the table, and rotate it QR front", + "Use the left arm to grab the black base with tilted gray panel and point its QR code toward you.", + "Take the small payment stand with black base from the table, rotating it QR code toward you.", + "Catch the small payment stand with black base, lift it, and adjust its QR code to face you.", + "Pick the payment sign with angled face up, rotate it, and ensure the QR code faces you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Find the payment sign with angled face, grab it, and turn it towards yourself.", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Lift the gray slanted panel with text from the table, turning it QR code forward.", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Use the left arm to grab the gray top with QR code and rotate it until the QR faces forward", + "Use the left arm to pick the small black stand for payments and turn it towards you.", + "Pick up the tabletop-sized payment sign and adjust its position to face the qrcode towards you.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Pick the triangular stand with QR code up, then rotate to make its qrcode visible.", + "Use the left arm to take the paymentsign and turn it until the QR code faces you", + "Lift the payment sign with green logo from the table and turn it to face you.", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Grab the gray slanted panel with text with the left arm, then rotate it to face yourself.", + "Lift the tabletop-sized payment sign from the table and rotate it so the code faces you.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Lift the small payment stand with black base from the surface and adjust its angle towards you", + "Lift the slanted gray panel for QR code scan and orient its QR code toward you with the left arm.", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Catch the gray slanted panel with text, lift, and rotate to align the qrcode to you.", + "Catch the black base with tilted gray panel off the table and rotate its qrcode to you.", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Take the black base with tilted gray panel, lift it, and orient it so the QR faces you", + "Use the left arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Lift the green payment logo on gray top and rotate it until the QR code faces you.", + "Use the left arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Pick the gray top with QR code up and turn its QR code toward you using the left arm.", + "Use the left arm to lift the gray top with QR code and rotate it QR code toward you.", + "Catch the payment sign with angled face, lift it, and rotate it QR code facing.", + "Catch the gray top with QR code with the left arm, then rotate it to make the QR code visible.", + "Pick up the triangular stand with QR code and rotate it so the QR code faces you", + "Grab the triangular stand with QR code, pick it up, and turn its qrcode toward you.", + "Use the left arm to lift the gray top with QR code from the table and face the qrcode.", + "Using the left arm, catch the gray top with QR code and rotate it to face the QR code.", + "Use the left arm to grab the payment sign with green logo and rotate QR code towards you.", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Use the left arm to grab the gray slanted panel with text and point its QR code toward you.", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Catch the gray slanted panel with text, lift it, and adjust its QR code to face you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the small payment stand with black base, raise it, and turn it so the QR code faces you", + "Find the tabletop-sized payment sign, grab it, and turn it towards yourself.", + "Grab the payment sign with angled face using the left arm, then rotate the QR code to face forward.", + "Lift the payment sign with green logo from the table, turning it QR code forward.", + "Employ the left arm to seize the slanted gray panel for QR code scan, raise it, and rotate it QR-forward", + "Use the left arm to grab the black base with tilted gray panel and rotate it until the QR faces forward", + "Use the left arm to pick the tabletop-sized payment sign and turn it towards you.", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Grab the gray top with QR code using the left arm, then rotate it until the qrcode faces you.", + "Locate the payment sign with angled face, pick it up, and adjust its angle.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Use the left arm to take the tabletop-sized payment sign and turn it until the QR code faces you", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Catch the green payment logo on gray top using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the slanted gray panel for QR code scan, lift, and turn it QR code forward", + "Catch the gray slanted panel with text, pick it up, and rotate to view the qrcode.", + "Grab the tabletop-sized payment sign with the left arm, then rotate it to face yourself.", + "Lift the tabletop-sized payment sign from the table and rotate it so the code faces you.", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Lift the slanted gray panel for QR code scan from the surface and adjust its angle towards you", + "Lift the paymentsign and orient its QR code toward you with the left arm.", + "Lift the black base with tilted gray panel and rotate for its qrcode to face you.", + "Take the payment sign with angled face, raise it, and make the qrcode face you.", + "Catch the gray slanted panel with text, lift, and rotate to align the qrcode to you.", + "Catch the green payment logo on gray top off the table and rotate its qrcode to you.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Take the gray top with QR code, lift it, and orient it so the QR faces you", + "Use the left arm to grab the small payment stand with black base, rotate, and face the QR code towards you.", + "Lift the paymentsign and rotate it until the QR code faces you.", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Lift the triangular stand with QR code from the table and rotate it towards you", + "Pick the green payment logo on gray top up and turn its QR code toward you using the left arm.", + "Use the left arm to lift the black base with tilted gray panel and rotate it QR code toward you.", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Grab the payment sign with angled face, pick it up, and turn its qrcode toward you.", + "Use the left arm to lift the triangular stand with QR code from the table and face the qrcode." + ], + "unseen": [ + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode4.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..7720132215e3c6056c7846512504888f58e46e9d --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the small paymentsign for mobile payments and rotate the qrcode to face you.", + "Using the left arm, catch the paymentsign resting on angled base and rotate it to face the QR code.", + "Grab the paymentsign with blue and white text using the left arm, then rotate it until the qrcode faces you.", + "Catch the QR code paymentsign, lift it, and rotate it QR code facing.", + "Employ the left arm to seize the beige paymentsign, raise it, and rotate it QR-forward", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and point its QR code toward you.", + "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.", + "Lift the compact paymentsign for scanning payments and rotate it until the QR code faces you.", + "Catch the beige paymentsign with printed details, lift it, and adjust its QR code to face you.", + "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the left arm.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Lift the stand-up paymentsign with rectangular top and rotate for its qrcode to face you.", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Take the rectangular paymentsign with colorful top from the table, rotating it QR code toward you.", + "Use the left arm to grab the rectangular paymentsign with colorful top, lift, and turn it QR code forward", + "Slide the rectangular paymentsign with colorful top off the table and turn it to face you.", + "Catch the QR code paymentsign with the left arm, then rotate it to make the QR code visible.", + "Locate the beige paymentsign, pick it up, and adjust its angle.", + "Use the left arm to lift the QR code paymentsign and rotate it QR code toward you.", + "Use the left arm to grab the beige paymentsign and rotate it until the QR faces forward", + "Use the left arm to pick the rectangular paymentsign with colorful top and turn it towards you.", + "Grab the paymentsign resting on angled base using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the smooth beige paymentsign and rotate QR code towards you.", + "Use the left arm to lift the paymentsign with blue and white text from the table and face the qrcode.", + "Grab the smooth beige paymentsign with the left arm, then rotate it to face yourself.", + "Lift the paymentsign with tilted rectangular panel with the left arm, then rotate it to make the qrcode visible.", + "Take the rectangular paymentsign with colorful top, lift it, and orient it so the QR faces you", + "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.", + "Catch the rectangular paymentsign with colorful top using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the paymentsign with tilted rectangular panel and rotate it so the QR code faces you", + "Lift the rectangular paymentsign with colorful top from the table and rotate it so the code faces you.", + "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.", + "Grab the compact paymentsign for scanning payments using the left arm, lift, and rotate until QR code faces you.", + "Lift the small paymentsign for mobile payments from the table and turn it to face you.", + "Lift the smooth beige paymentsign from the surface and adjust its angle towards you", + "Use the left arm to take the QR code paymentsign and turn it until the QR code faces you", + "Lift the beige paymentsign and orient its QR code toward you with the left arm.", + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Catch the compact paymentsign for scanning payments, raise it, and turn it so the QR code faces you", + "Pick up the compact paymentsign for scanning payments and adjust its position to face the qrcode towards you.", + "Take the beige paymentsign with printed details, raise it, and make the qrcode face you.", + "Catch and lift the paymentsign showing QR code label, then turn it to show the QR code.", + "Lift the small paymentsign for mobile payments from the table and rotate it towards you", + "Lift the smooth beige paymentsign from the table, turning it QR code forward.", + "Use the left arm to grab the paymentsign with tilted rectangular panel, rotate, and face the QR code towards you.", + "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the paymentsign resting on angled base and rotate the qrcode to face you.", + "Using the left arm, catch the paymentsign resting on angled base and rotate it to face the QR code.", + "Grab the rectangular paymentsign with colorful top using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with blue and white text, lift it, and rotate it QR code facing.", + "Employ the left arm to seize the beige paymentsign, raise it, and rotate it QR-forward", + "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.", + "Use the left arm to grab the stand-up paymentsign with rectangular top and point its QR code toward you.", + "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.", + "Lift the paymentsign with tilted rectangular panel and rotate it until the QR code faces you.", + "Catch the beige paymentsign, lift it, and adjust its QR code to face you.", + "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the left arm.", + "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.", + "Lift the compact paymentsign for scanning payments and rotate for its qrcode to face you.", + "Grab the paymentsign resting on angled base, lift it from the table, and rotate it QR front", + "Take the paymentsign with blue and white text from the table, rotating it QR code toward you.", + "Use the left arm to grab the rectangular paymentsign with colorful top, lift, and turn it QR code forward", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Catch the QR code paymentsign with the left arm, then rotate it to make the QR code visible.", + "Locate the rectangular paymentsign with colorful top, pick it up, and adjust its angle.", + "Use the left arm to lift the QR code paymentsign and rotate it QR code toward you.", + "Use the left arm to grab the QR code paymentsign and rotate it until the QR faces forward", + "Use the left arm to pick the rectangular paymentsign with colorful top and turn it towards you.", + "Grab the QR code paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate QR code towards you.", + "Use the left arm to lift the paymentsign showing QR code label from the table and face the qrcode.", + "Grab the small paymentsign for mobile payments with the left arm, then rotate it to face yourself.", + "Lift the beige paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Catch the paymentsign with tilted rectangular panel, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign resting on angled base using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Lift the smooth beige paymentsign from the table and rotate it so the code faces you.", + "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.", + "Grab the paymentsign resting on angled base using the left arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Lift the stand-up paymentsign with rectangular top from the surface and adjust its angle towards you", + "Use the left arm to take the beige paymentsign with printed details and turn it until the QR code faces you", + "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the left arm.", + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Catch the paymentsign resting on angled base, raise it, and turn it so the QR code faces you", + "Pick up the paymentsign with blue and white text and adjust its position to face the qrcode towards you.", + "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.", + "Catch and lift the QR code paymentsign, then turn it to show the QR code.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.", + "Use the left arm to grab the compact paymentsign for scanning payments, rotate, and face the QR code towards you.", + "Catch the compact paymentsign for scanning payments, lift it, and turn the qrcode towards you." + ], + "unseen": [ + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode40.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..8c2d3da9bb4e21db78451051f0d7104a613096ad --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the QR code paymentsign and rotate the qrcode to face you.", + "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.", + "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you", + "Grab the paymentsign with tilted rectangular panel using the right arm, then rotate the QR code to face forward.", + "Lift the smooth beige paymentsign and orient its QR code toward you with the right arm.", + "Locate the QR code paymentsign, pick it up, and adjust its angle.", + "Lift the beige paymentsign from the table and rotate it so the code faces you.", + "Lift the paymentsign with blue and white text from the table and rotate it towards you", + "Grab the QR code paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to pick the paymentsign with blue and white text and turn it towards you.", + "Employ the right arm to seize the paymentsign showing QR code label, raise it, and rotate it QR-forward", + "Grab the rectangular paymentsign with colorful top using the right arm, lift, and rotate until QR code faces you.", + "Pick up the rectangular paymentsign with colorful top and rotate it so the QR code faces you", + "Use the right arm to take the beige paymentsign with printed details and turn it until the QR code faces you", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Slide the beige paymentsign with printed details off the table and turn it to face you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate it until the QR faces forward", + "Catch the paymentsign showing QR code label using the right arm, pick it up, and turn it to face the QR code.", + "Take the paymentsign with tilted rectangular panel, raise it, and make the qrcode face you.", + "Use the right arm to grab the QR code paymentsign, rotate, and face the QR code towards you.", + "Grab the beige paymentsign with printed details, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Use the right arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Lift the paymentsign showing QR code label from the table, turning it QR code forward.", + "Using the right arm, catch the smooth beige paymentsign and rotate it to face the QR code.", + "Take the beige paymentsign, lift it, and orient it so the QR faces you", + "Lift the paymentsign with tilted rectangular panel and rotate until its qrcode faces you.", + "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.", + "Catch the compact paymentsign for scanning payments, lift it, and turn the qrcode towards you.", + "Pick the small paymentsign for mobile payments up and turn its QR code toward you using the right arm.", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward", + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Catch the beige paymentsign with printed details, lift, and rotate to align the qrcode to you.", + "Use the right arm to lift the smooth beige paymentsign from the table and face the qrcode.", + "Catch the small paymentsign for mobile payments, lift it, and adjust its QR code to face you.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Catch the paymentsign showing QR code label with the right arm, then rotate it to make the QR code visible.", + "Catch the QR code paymentsign off the table and rotate its qrcode to you.", + "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.", + "Pick the beige paymentsign with printed details up, then rotate to make its qrcode visible.", + "Grab the rectangular paymentsign with colorful top with the right arm, then rotate it to face yourself.", + "Lift the compact paymentsign for scanning payments with the right arm, then rotate it to make the qrcode visible.", + "Lift the smooth beige paymentsign and rotate for its qrcode to face you.", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Use the right arm to grab the beige paymentsign with printed details and rotate QR code towards you.", + "Use the right arm to grab the paymentsign resting on angled base and point its QR code toward you.", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Catch and lift the smooth beige paymentsign, then turn it to show the QR code.", + "Use the right arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Lift the QR code paymentsign and rotate it until the QR code faces you.", + "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you", + "Grab the small paymentsign for mobile payments using the right arm, then rotate the QR code to face forward.", + "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the right arm.", + "Locate the paymentsign with tilted rectangular panel, pick it up, and adjust its angle.", + "Lift the beige paymentsign from the table and rotate it so the code faces you.", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to pick the beige paymentsign and turn it towards you.", + "Employ the right arm to seize the compact paymentsign for scanning payments, raise it, and rotate it QR-forward", + "Grab the paymentsign showing QR code label using the right arm, lift, and rotate until QR code faces you.", + "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you", + "Use the right arm to take the beige paymentsign with printed details and turn it until the QR code faces you", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Use the right arm to grab the beige paymentsign and rotate it until the QR faces forward", + "Catch the QR code paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Take the smooth beige paymentsign, raise it, and make the qrcode face you.", + "Use the right arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Grab the beige paymentsign with printed details, pick it up, and turn its qrcode toward you.", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to show the QR code.", + "Use the right arm to lift the paymentsign with blue and white text and rotate it QR code toward you.", + "Catch the QR code paymentsign, raise it, and turn it so the QR code faces you", + "Lift the small paymentsign for mobile payments from the table, turning it QR code forward.", + "Using the right arm, catch the paymentsign with tilted rectangular panel and rotate it to face the QR code.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Lift the compact paymentsign for scanning payments and rotate until its qrcode faces you.", + "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Pick the smooth beige paymentsign up and turn its QR code toward you using the right arm.", + "Catch the compact paymentsign for scanning payments, lift it, and rotate it QR code facing.", + "Use the right arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward", + "Find the QR code paymentsign, grab it, and turn it towards yourself.", + "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.", + "Use the right arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the paymentsign with tilted rectangular panel with the right arm, then rotate it to make the QR code visible.", + "Catch the small paymentsign for mobile payments off the table and rotate its qrcode to you.", + "Take the rectangular paymentsign with colorful top from the table, rotating it QR code toward you.", + "Pick the small paymentsign for mobile payments up, then rotate to make its qrcode visible.", + "Grab the compact paymentsign for scanning payments with the right arm, then rotate it to face yourself.", + "Lift the compact paymentsign for scanning payments with the right arm, then rotate it to make the qrcode visible.", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate QR code towards you.", + "Use the right arm to grab the small paymentsign for mobile payments and point its QR code toward you.", + "Lift the stand-up paymentsign with rectangular top from the table and turn it to face you.", + "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code." + ], + "unseen": [ + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode41.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..c85543a01a742842aa1873f50ef1b9d9979d4dfe --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Lift the green payment logo on gray top and rotate until its qrcode faces you.", + "Catch the gray slanted panel with text using the left arm, pick it up, and turn it to face the QR code.", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Lift the gray slanted panel with text and orient its QR code toward you with the left arm.", + "Grab the gray slanted panel with text, lift it from the table, and rotate it QR front", + "Find the gray slanted panel with text, grab it, and turn it towards yourself.", + "Catch the slanted gray panel for QR code scan off the table and rotate its qrcode to you.", + "Pick the gray top with QR code up and turn its QR code toward you using the left arm.", + "Catch the triangular stand with QR code with the left arm, then rotate it to make the QR code visible.", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to view the qrcode.", + "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Use the left arm to pick the payment sign with angled face and turn it towards you.", + "Pick up the small black stand for payments and adjust its position to face the qrcode towards you.", + "Lift the triangular stand with QR code and rotate it until the QR code faces you.", + "Lift the small black stand for payments from the table and turn it to face you.", + "Use the left arm to grab the slanted gray panel for QR code scan and point its QR code toward you.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Lift the green payment logo on gray top with the left arm, then rotate it to make the qrcode visible.", + "Locate the payment sign with angled face, pick it up, and adjust its angle.", + "Catch the slanted gray panel for QR code scan, lift, and rotate to align the qrcode to you.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Pick up the payment sign with angled face and rotate it so the QR code faces you", + "Pick the green payment logo on gray top up, then rotate to make its qrcode visible.", + "Grab the green payment logo on gray top using the left arm, then rotate the QR code to face forward.", + "Grab the black base with tilted gray panel with the left arm, then rotate it to face yourself.", + "Grab the triangular stand with QR code using the left arm, then rotate it until the qrcode faces you.", + "Slide the gray slanted panel with text off the table and turn it to face you.", + "Use the left arm to take the triangular stand with QR code and turn it until the QR code faces you", + "Using the left arm, catch the small black stand for payments and rotate it to face the QR code.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Use the left arm to grab the tabletop-sized payment sign and rotate the qrcode to face you.", + "Use the left arm to lift the small black stand for payments from the table and face the qrcode.", + "Catch the triangular stand with QR code, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the paymentsign and rotate QR code towards you.", + "Catch the gray top with QR code, lift it, and adjust its QR code to face you.", + "Use the left arm to lift the gray top with QR code and rotate it QR code toward you.", + "Take the payment sign with angled face, lift it, and orient it so the QR faces you", + "Use the left arm to grab the small payment stand with black base and rotate it until the QR faces forward", + "Grab the tabletop-sized payment sign, pick it up, and turn its qrcode toward you.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Use the left arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Pick the triangular stand with QR code up, rotate it, and ensure the QR code faces you.", + "Employ the left arm to seize the black base with tilted gray panel, raise it, and rotate it QR-forward", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Lift the payment sign with angled face from the table and rotate it towards you", + "Use the left arm to grab the small payment stand with black base, lift, and turn it QR code forward", + "Take the payment sign with green logo, raise it, and make the qrcode face you.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Catch the payment sign with green logo using the left arm, pick it up, and turn it to face the QR code.", + "Lift the gray slanted panel with text from the table, turning it QR code forward.", + "Lift the black base with tilted gray panel and orient its QR code toward you with the left arm.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Catch the tabletop-sized payment sign off the table and rotate its qrcode to you.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Grab the small payment stand with black base using the left arm, lift, and rotate until QR code faces you.", + "Catch the triangular stand with QR code, pick it up, and rotate to view the qrcode.", + "Catch the payment sign with green logo, raise it, and turn it so the QR code faces you", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Use the left arm to pick the payment sign with green logo and turn it towards you.", + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Lift the small black stand for payments from the table and turn it to face you.", + "Use the left arm to grab the payment sign with green logo and point its QR code toward you.", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Lift the green payment logo on gray top with the left arm, then rotate it to make the qrcode visible.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Catch the black base with tilted gray panel, lift, and rotate to align the qrcode to you.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Pick up the gray slanted panel with text and rotate it so the QR code faces you", + "Pick the slanted gray panel for QR code scan up, then rotate to make its qrcode visible.", + "Grab the gray slanted panel with text using the left arm, then rotate the QR code to face forward.", + "Grab the gray slanted panel with text with the left arm, then rotate it to face yourself.", + "Grab the green payment logo on gray top using the left arm, then rotate it until the qrcode faces you.", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Use the left arm to take the black base with tilted gray panel and turn it until the QR code faces you", + "Using the left arm, catch the green payment logo on gray top and rotate it to face the QR code.", + "Catch the black base with tilted gray panel, lift it, and rotate it QR code facing.", + "Use the left arm to grab the green payment logo on gray top and rotate the qrcode to face you.", + "Use the left arm to lift the slanted gray panel for QR code scan from the table and face the qrcode.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the gray top with QR code and rotate QR code towards you.", + "Catch the payment sign with angled face, lift it, and adjust its QR code to face you.", + "Use the left arm to lift the green payment logo on gray top and rotate it QR code toward you.", + "Take the gray slanted panel with text, lift it, and orient it so the QR faces you", + "Use the left arm to grab the gray slanted panel with text and rotate it until the QR faces forward", + "Grab the black base with tilted gray panel, pick it up, and turn its qrcode toward you.", + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Use the left arm to grab the payment sign with angled face, rotate, and face the QR code towards you.", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Pick the gray top with QR code up, rotate it, and ensure the QR code faces you.", + "Employ the left arm to seize the tabletop-sized payment sign, raise it, and rotate it QR-forward", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Lift the small black stand for payments from the table and rotate it towards you", + "Use the left arm to grab the small black stand for payments, lift, and turn it QR code forward" + ], + "unseen": [ + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode42.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..61f435315ecb3777792d741eb990cfe2da3dc94b --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the blue and white paymentsign, pick it up, and rotate to view the qrcode.", + "Pick up the rectangular plastic paymentsign with codes and rotate it so the QR code faces you", + "Lift the smooth surface paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the paymentsign with glossy blue panel and rotate it until the QR faces forward", + "Catch the rectangular plastic paymentsign with codes, lift it, and adjust its QR code to face you.", + "Pick the paymentsign for scanning QR codes up and turn its QR code toward you using the right arm.", + "Find the blue and white paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to lift the paymentsign with glossy blue panel from the table and face the qrcode.", + "Lift the small glossy paymentsign from the surface and adjust its angle towards you", + "Use the right arm to grab the blue and white paymentsign and point its QR code toward you.", + "Grab the paymentsign with angled black stand, pick it up, and turn its qrcode toward you.", + "Pick up the blue and white paymentsign and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the blue and white rectangular paymentsign, lift, and turn it QR code forward", + "Employ the right arm to seize the smooth surface paymentsign, raise it, and rotate it QR-forward", + "Lift the paymentsign with printed QR codes from the table and rotate it so the code faces you.", + "Lift the paymentsign with glossy blue panel and rotate until its qrcode faces you.", + "Lift the smooth surface paymentsign and rotate it until the QR code faces you.", + "Catch the rectangular plastic paymentsign with codes, raise it, and turn it so the QR code faces you", + "Pick the small glossy paymentsign up, then rotate to make its qrcode visible.", + "Locate the small glossy paymentsign, pick it up, and adjust its angle.", + "Take the rectangular plastic paymentsign, lift it, and orient it so the QR faces you", + "Lift the rectangular plastic paymentsign with codes from the table and turn it to face you.", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Grab the small paymentsign with stand with the right arm, then rotate it to face yourself.", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to show the QR code.", + "Lift the small glossy paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Grab the paymentsign with printed QR codes using the right arm, then rotate the QR code to face forward.", + "Catch the smooth surface paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with angled black stand, lift it, and rotate it QR code facing.", + "Take the paymentsign for scanning QR codes, raise it, and make the qrcode face you.", + "Use the right arm to grab the paymentsign with angled black stand, rotate, and face the QR code towards you.", + "Use the right arm to grab the blue and white paymentsign and rotate QR code towards you.", + "Use the right arm to take the paymentsign for scanning QR codes and turn it until the QR code faces you", + "Grab the small glossy paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign with glossy blue panel, lift it from the table, and rotate it QR front", + "Using the right arm, catch the blue and white paymentsign and rotate it to face the QR code.", + "Catch the rectangular plastic paymentsign, lift it, and turn the qrcode towards you.", + "Slide the paymentsign with printed QR codes off the table and turn it to face you.", + "Use the right arm to pick the paymentsign with glossy blue panel and turn it towards you.", + "Lift the paymentsign with angled black stand from the table and rotate it towards you", + "Use the right arm to grab the blue and white rectangular paymentsign and rotate the qrcode to face you.", + "Use the right arm to lift the blue and white rectangular paymentsign and rotate it QR code toward you.", + "Catch the small paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Lift the tabletop paymentsign and orient its QR code toward you with the right arm.", + "Catch and lift the paymentsign with angled black stand, then turn it to show the QR code.", + "Catch the blue and white paymentsign with the right arm, then rotate it to make the QR code visible.", + "Grab the paymentsign with angled black stand using the right arm, lift, and rotate until QR code faces you.", + "Catch the blue and white rectangular paymentsign off the table and rotate its qrcode to you.", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to view the qrcode.", + "Pick up the smooth surface paymentsign and rotate it so the QR code faces you", + "Lift the rectangular plastic paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the smooth surface paymentsign and rotate it until the QR faces forward", + "Catch the blue and white rectangular paymentsign, lift it, and adjust its QR code to face you.", + "Pick the blue and white rectangular paymentsign up and turn its QR code toward you using the right arm.", + "Find the blue and white paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to lift the paymentsign with glossy blue panel from the table and face the qrcode.", + "Lift the smooth surface paymentsign from the surface and adjust its angle towards you", + "Use the right arm to grab the paymentsign for scanning QR codes and point its QR code toward you.", + "Grab the smooth surface paymentsign, pick it up, and turn its qrcode toward you.", + "Pick up the small glossy paymentsign and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the rectangular plastic paymentsign, lift, and turn it QR code forward", + "Employ the right arm to seize the paymentsign for scanning QR codes, raise it, and rotate it QR-forward", + "Lift the paymentsign with printed QR codes from the table and rotate it so the code faces you.", + "Lift the smooth surface paymentsign and rotate until its qrcode faces you.", + "Lift the paymentsign for scanning QR codes and rotate it until the QR code faces you.", + "Catch the smooth surface paymentsign, raise it, and turn it so the QR code faces you", + "Pick the rectangular plastic paymentsign with codes up, then rotate to make its qrcode visible.", + "Locate the rectangular plastic paymentsign, pick it up, and adjust its angle.", + "Take the blue and white paymentsign, lift it, and orient it so the QR faces you", + "Lift the tabletop paymentsign from the table and turn it to face you.", + "Lift the paymentsign with glossy blue panel from the table, turning it QR code forward.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Grab the paymentsign with angled black stand with the right arm, then rotate it to face yourself.", + "Pick the smooth surface paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the smooth surface paymentsign, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with glossy blue panel with the right arm, then rotate it to make the qrcode visible.", + "Grab the paymentsign with angled black stand using the right arm, then rotate the QR code to face forward.", + "Catch the rectangular plastic paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the rectangular plastic paymentsign with codes, lift it, and rotate it QR code facing.", + "Take the rectangular plastic paymentsign with codes, raise it, and make the qrcode face you.", + "Use the right arm to grab the paymentsign with printed QR codes, rotate, and face the QR code towards you.", + "Use the right arm to grab the paymentsign with angled black stand and rotate QR code towards you.", + "Use the right arm to take the blue and white rectangular paymentsign and turn it until the QR code faces you", + "Grab the tabletop paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Grab the tabletop paymentsign, lift it from the table, and rotate it QR front", + "Using the right arm, catch the blue and white rectangular paymentsign and rotate it to face the QR code.", + "Catch the blue and white paymentsign, lift it, and turn the qrcode towards you.", + "Slide the smooth surface paymentsign off the table and turn it to face you.", + "Use the right arm to pick the smooth surface paymentsign and turn it towards you.", + "Lift the paymentsign with printed QR codes from the table and rotate it towards you", + "Use the right arm to grab the rectangular plastic paymentsign and rotate the qrcode to face you.", + "Use the right arm to lift the paymentsign with angled black stand and rotate it QR code toward you.", + "Catch the paymentsign with angled black stand, lift, and rotate to align the qrcode to you.", + "Lift the small paymentsign with stand and orient its QR code toward you with the right arm.", + "Catch and lift the small glossy paymentsign, then turn it to show the QR code.", + "Catch the rectangular plastic paymentsign with codes with the right arm, then rotate it to make the QR code visible.", + "Grab the blue and white paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with glossy blue panel off the table and rotate its qrcode to you." + ], + "unseen": [ + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode43.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..b3b8adb13bc6df48d8bad3bed1cf9e71150a7561 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the black base with tilted gray panel with the left arm, then rotate it to make the QR code visible.", + "Pick the small black stand for payments up and turn its QR code toward you using the left arm.", + "Lift the green payment logo on gray top and rotate for its qrcode to face you.", + "Use the left arm to grab the small black stand for payments, rotate, and face the QR code towards you.", + "Catch and lift the gray top with QR code, then turn it to show the QR code.", + "Employ the left arm to seize the black base with tilted gray panel, raise it, and rotate it QR-forward", + "Use the left arm to grab the small black stand for payments, lift, and turn it QR code forward", + "Use the left arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Grab the small payment stand with black base using the left arm, then rotate the QR code to face forward.", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Catch the payment sign with green logo, lift it, and rotate it QR code facing.", + "Using the left arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Lift the triangular stand with QR code from the table and turn it to face you.", + "Use the left arm to lift the gray slanted panel with text from the table and face the qrcode.", + "Slide the gray top with QR code off the table and turn it to face you.", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Pick up the tabletop-sized payment sign and adjust its position to face the qrcode towards you.", + "Pick the payment sign with angled face up, rotate it, and ensure the QR code faces you.", + "Pick the slanted gray panel for QR code scan up, then rotate to make its qrcode visible.", + "Pick up the tabletop-sized payment sign and rotate it so the QR code faces you", + "Use the left arm to pick the black base with tilted gray panel and turn it towards you.", + "Take the payment sign with angled face, raise it, and make the qrcode face you.", + "Use the left arm to grab the triangular stand with QR code and rotate QR code towards you.", + "Lift the slanted gray panel for QR code scan from the surface and adjust its angle towards you", + "Find the small payment stand with black base, grab it, and turn it towards yourself.", + "Grab the payment sign with green logo, pick it up, and turn its qrcode toward you.", + "Catch the tabletop-sized payment sign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the gray top with QR code, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the gray top with QR code and rotate the qrcode to face you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Catch the payment sign with green logo off the table and rotate its qrcode to you.", + "Lift the triangular stand with QR code and orient its QR code toward you with the left arm.", + "Grab the payment sign with angled face with the left arm, then rotate it to face yourself.", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the black base with tilted gray panel and rotate it QR code toward you.", + "Lift the gray top with QR code from the table and rotate it so the code faces you.", + "Use the left arm to grab the gray top with QR code and point its QR code toward you.", + "Grab the payment sign with angled face using the left arm, then rotate it until the qrcode faces you.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you", + "Locate the gray slanted panel with text, pick it up, and adjust its angle.", + "Lift the triangular stand with QR code and rotate it until the QR code faces you.", + "Lift the small black stand for payments with the left arm, then rotate it to make the qrcode visible.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Lift the payment sign with angled face and rotate until its qrcode faces you.", + "Catch the tabletop-sized payment sign, lift it, and turn the qrcode towards you.", + "Lift the small payment stand with black base from the table, turning it QR code forward.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Lift the gray top with QR code from the table and rotate it towards you", + "Catch the triangular stand with QR code with the left arm, then rotate it to make the QR code visible.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Lift the black base with tilted gray panel and rotate for its qrcode to face you.", + "Use the left arm to grab the triangular stand with QR code, rotate, and face the QR code towards you.", + "Catch and lift the slanted gray panel for QR code scan, then turn it to show the QR code.", + "Employ the left arm to seize the triangular stand with QR code, raise it, and rotate it QR-forward", + "Use the left arm to grab the payment sign with angled face, lift, and turn it QR code forward", + "Use the left arm to grab the triangular stand with QR code and rotate it until the QR faces forward", + "Grab the gray top with QR code using the left arm, then rotate the QR code to face forward.", + "Use the left arm to take the small payment stand with black base and turn it until the QR code faces you", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Using the left arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Lift the green payment logo on gray top from the table and turn it to face you.", + "Use the left arm to lift the black base with tilted gray panel from the table and face the qrcode.", + "Slide the paymentsign off the table and turn it to face you.", + "Catch the small payment stand with black base, lift it, and adjust its QR code to face you.", + "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Pick up the green payment logo on gray top and rotate it so the QR code faces you", + "Use the left arm to pick the triangular stand with QR code and turn it towards you.", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Use the left arm to grab the triangular stand with QR code and rotate QR code towards you.", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Find the gray slanted panel with text, grab it, and turn it towards yourself.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Catch the slanted gray panel for QR code scan using the left arm, pick it up, and turn it to face the QR code.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Lift the gray top with QR code and orient its QR code toward you with the left arm.", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Grab the green payment logo on gray top using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the slanted gray panel for QR code scan and rotate it QR code toward you.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Use the left arm to grab the small payment stand with black base and point its QR code toward you.", + "Grab the slanted gray panel for QR code scan using the left arm, then rotate it until the qrcode faces you.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Lift the small black stand for payments and rotate it until the QR code faces you.", + "Lift the gray slanted panel with text with the left arm, then rotate it to make the qrcode visible.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Catch the tabletop-sized payment sign, pick it up, and rotate to show the QR code.", + "Lift the small black stand for payments and rotate until its qrcode faces you.", + "Catch the payment sign with angled face, lift it, and turn the qrcode towards you.", + "Lift the black base with tilted gray panel from the table, turning it QR code forward.", + "Grab the small black stand for payments, lift it from the table, and rotate it QR front", + "Lift the tabletop-sized payment sign from the table and rotate it towards you" + ], + "unseen": [ + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode44.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..9ec44d149d2ab9ef1ea3558a03ad87c253d70544 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Lift the gray top with QR code from the table, turning it QR code forward.", + "Pick up the tabletop-sized payment sign and rotate it so the QR code faces you", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Take the black base with tilted gray panel from the table, rotating it QR code toward you.", + "Lift the small payment stand with black base and orient its QR code toward you with the left arm.", + "Use the left arm to grab the green payment logo on gray top and rotate QR code towards you.", + "Use the left arm to grab the gray top with QR code, rotate, and face the QR code towards you.", + "Use the left arm to pick the black base with tilted gray panel and turn it towards you.", + "Catch the triangular stand with QR code, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the triangular stand with QR code and point its QR code toward you.", + "Pick up the gray slanted panel with text and adjust its position to face the qrcode towards you.", + "Lift the black base with tilted gray panel and rotate until its qrcode faces you.", + "Use the left arm to grab the gray slanted panel with text and rotate it until the QR faces forward", + "Lift the small payment stand with black base and rotate for its qrcode to face you.", + "Use the left arm to grab the gray top with QR code, lift, and turn it QR code forward", + "Pick the gray slanted panel with text up, rotate it, and ensure the QR code faces you.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Grab the black base with tilted gray panel, lift it from the table, and rotate it QR front", + "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Catch and lift the small black stand for payments, then turn it to show the QR code.", + "Lift the payment sign with angled face with the left arm, then rotate it to make the qrcode visible.", + "Employ the left arm to seize the black base with tilted gray panel, raise it, and rotate it QR-forward", + "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you", + "Catch the green payment logo on gray top off the table and rotate its qrcode to you.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Use the left arm to grab the payment sign with angled face and rotate the qrcode to face you.", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Catch the payment sign with green logo with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to take the payment sign with green logo and turn it until the QR code faces you", + "Grab the black base with tilted gray panel with the left arm, then rotate it to face yourself.", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Grab the paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Lift the small payment stand with black base from the table and rotate it so the code faces you.", + "Take the black base with tilted gray panel, lift it, and orient it so the QR faces you", + "Grab the small black stand for payments using the left arm, lift, and rotate until QR code faces you.", + "Find the payment sign with angled face, grab it, and turn it towards yourself.", + "Lift the black base with tilted gray panel from the surface and adjust its angle towards you", + "Grab the small payment stand with black base using the left arm, then rotate the QR code to face forward.", + "Use the left arm to lift the slanted gray panel for QR code scan from the table and face the qrcode.", + "Lift the gray slanted panel with text and rotate it until the QR code faces you.", + "Take the payment sign with green logo, raise it, and make the qrcode face you.", + "Using the left arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Catch the payment sign with green logo using the left arm, pick it up, and turn it to face the QR code.", + "Lift the green payment logo on gray top from the table, turning it QR code forward.", + "Pick up the slanted gray panel for QR code scan and rotate it so the QR code faces you", + "Catch the slanted gray panel for QR code scan, lift, and rotate to align the qrcode to you.", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Lift the gray slanted panel with text and orient its QR code toward you with the left arm.", + "Use the left arm to grab the black base with tilted gray panel and rotate QR code towards you.", + "Use the left arm to grab the gray top with QR code, rotate, and face the QR code towards you.", + "Use the left arm to pick the paymentsign and turn it towards you.", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the payment sign with angled face and point its QR code toward you.", + "Pick up the gray top with QR code and adjust its position to face the qrcode towards you.", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Use the left arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Pick the slanted gray panel for QR code scan up and turn its QR code toward you using the left arm.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Catch the small payment stand with black base, lift it, and rotate it QR code facing.", + "Pick the payment sign with green logo up, then rotate to make its qrcode visible.", + "Catch and lift the slanted gray panel for QR code scan, then turn it to show the QR code.", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Employ the left arm to seize the green payment logo on gray top, raise it, and rotate it QR-forward", + "Catch the payment sign with green logo, raise it, and turn it so the QR code faces you", + "Catch the green payment logo on gray top off the table and rotate its qrcode to you.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Slide the green payment logo on gray top off the table and turn it to face you.", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Use the left arm to lift the gray slanted panel with text and rotate it QR code toward you.", + "Catch the slanted gray panel for QR code scan with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to take the payment sign with green logo and turn it until the QR code faces you", + "Grab the paymentsign with the left arm, then rotate it to face yourself.", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Grab the gray top with QR code using the left arm, then rotate it until the qrcode faces you.", + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Grab the gray top with QR code using the left arm, then rotate the QR code to face forward.", + "Use the left arm to lift the tabletop-sized payment sign from the table and face the qrcode.", + "Lift the green payment logo on gray top and rotate it until the QR code faces you.", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Using the left arm, catch the black base with tilted gray panel and rotate it to face the QR code.", + "Lift the paymentsign from the table and turn it to face you.", + "Catch the small payment stand with black base, lift it, and turn the qrcode towards you." + ], + "unseen": [ + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode45.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..3624f1b35abae4a13121f2d9dae263734aef0f71 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow panel white paymentsign and rotate for its qrcode to face you.", + "Pick up the rectangular paymentsign with stand and rotate it so the QR code faces you", + "Catch the white paymentsign with raised base, pick it up, and rotate to view the qrcode.", + "Catch the white paymentsign with raised base, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate the qrcode to face you.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Slide the white rectangular paymentsign with yellow details off the table and turn it to face you.", + "Lift the yellow and white payment display and rotate it until the QR code faces you.", + "Using the right arm, catch the paymentsign and rotate it to face the QR code.", + "Catch the smooth plastic paymentsign with QR code off the table and rotate its qrcode to you.", + "Use the right arm to pick the yellow and white payment display and turn it towards you.", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Pick the paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the yellow panel white paymentsign and point its QR code toward you.", + "Lift the rectangular paymentsign with stand from the table, turning it QR code forward.", + "Lift the paymentsign with QR code area and orient its QR code toward you with the right arm.", + "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.", + "Catch the yellow panel white paymentsign, lift it, and rotate it QR code facing.", + "Grab the tabletop paymentsign with the right arm, then rotate it to face yourself.", + "Catch the white stand sign using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the plastic smooth paymentsign and rotate QR code towards you.", + "Pick the paymentsign with QR code area up, then rotate to make its qrcode visible.", + "Grab the paymentsign with QR code area using the right arm, then rotate it until the qrcode faces you.", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Find the white stand sign, grab it, and turn it towards yourself.", + "Use the right arm to lift the white paymentsign with raised base from the table and face the qrcode.", + "Catch the yellow and white payment display with the right arm, then rotate it to make the QR code visible.", + "Lift the white paymentsign with raised base with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the rectangular paymentsign with stand, rotate, and face the QR code towards you.", + "Use the right arm to grab the sign with yellow payment section and rotate it until the QR faces forward", + "Take the white stand sign from the table, rotating it QR code toward you.", + "Lift the rectangular paymentsign with stand from the table and rotate it so the code faces you.", + "Grab the yellow panel white paymentsign, lift it from the table, and rotate it QR front", + "Grab the rectangular paymentsign with stand using the right arm, then rotate the QR code to face forward.", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Take the tabletop paymentsign, raise it, and make the qrcode face you.", + "Take the paymentsign with QR code area, lift it, and orient it so the QR faces you", + "Grab the sign with yellow payment section using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the plastic smooth paymentsign and rotate it QR code toward you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Employ the right arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Lift the yellow and white payment display and rotate until its qrcode faces you.", + "Catch and lift the smooth plastic paymentsign with QR code, then turn it to show the QR code.", + "Catch the plastic smooth paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the white paymentsign with raised base, lift, and turn it QR code forward", + "Use the right arm to take the paymentsign and turn it until the QR code faces you", + "Catch the white paymentsign with raised base, lift it, and adjust its QR code to face you.", + "Locate the sign with yellow payment section, pick it up, and adjust its angle.", + "Lift the paymentsign from the table and rotate it towards you", + "Lift the white paymentsign with raised base from the table and turn it to face you.", + "Lift the white stand sign and rotate for its qrcode to face you.", + "Pick up the tabletop paymentsign and rotate it so the QR code faces you", + "Catch the yellow and white payment display, pick it up, and rotate to view the qrcode.", + "Catch the yellow panel white paymentsign, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the paymentsign with QR code area and rotate the qrcode to face you.", + "Lift the tabletop paymentsign from the surface and adjust its angle towards you", + "Slide the white stand sign off the table and turn it to face you.", + "Lift the yellow and white payment display and rotate it until the QR code faces you.", + "Using the right arm, catch the white rectangular paymentsign with yellow details and rotate it to face the QR code.", + "Catch the rectangular paymentsign with stand off the table and rotate its qrcode to you.", + "Use the right arm to pick the smooth plastic paymentsign with QR code and turn it towards you.", + "Grab the paymentsign with QR code area, pick it up, and turn its qrcode toward you.", + "Pick the paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the paymentsign and point its QR code toward you.", + "Lift the rectangular paymentsign with stand from the table, turning it QR code forward.", + "Lift the white rectangular paymentsign with yellow details and orient its QR code toward you with the right arm.", + "Pick up the white paymentsign with raised base and adjust its position to face the qrcode towards you.", + "Catch the sign with yellow payment section, lift it, and rotate it QR code facing.", + "Grab the plastic smooth paymentsign with the right arm, then rotate it to face yourself.", + "Catch the paymentsign with QR code area using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the plastic smooth paymentsign and rotate QR code towards you.", + "Pick the sign with yellow payment section up, then rotate to make its qrcode visible.", + "Grab the rectangular paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Find the white rectangular paymentsign with yellow details, grab it, and turn it towards yourself.", + "Use the right arm to lift the sign with yellow payment section from the table and face the qrcode.", + "Catch the yellow panel white paymentsign with the right arm, then rotate it to make the QR code visible.", + "Lift the sign with yellow payment section with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the white rectangular paymentsign with yellow details, rotate, and face the QR code towards you.", + "Use the right arm to grab the paymentsign with QR code area and rotate it until the QR faces forward", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Lift the plastic smooth paymentsign from the table and rotate it so the code faces you.", + "Grab the yellow panel white paymentsign, lift it from the table, and rotate it QR front", + "Grab the white paymentsign with raised base using the right arm, then rotate the QR code to face forward.", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Take the sign with yellow payment section, lift it, and orient it so the QR faces you", + "Grab the paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the plastic smooth paymentsign and rotate it QR code toward you.", + "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you", + "Employ the right arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Catch and lift the smooth plastic paymentsign with QR code, then turn it to show the QR code.", + "Catch the yellow and white payment display, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the paymentsign, lift, and turn it QR code forward", + "Use the right arm to take the paymentsign and turn it until the QR code faces you", + "Catch the yellow panel white paymentsign, lift it, and adjust its QR code to face you.", + "Locate the plastic smooth paymentsign, pick it up, and adjust its angle.", + "Lift the paymentsign with QR code area from the table and rotate it towards you", + "Lift the paymentsign from the table and turn it to face you." + ], + "unseen": [ + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode46.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..ed16a416292ed6bc04f429735137a244c6b35bc2 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Grab the small black stand for payments using the left arm, then rotate the QR code to face forward.", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the black base with tilted gray panel using the left arm, pick it up, and turn it to face the QR code.", + "Catch the small black stand for payments, lift it, and adjust its QR code to face you.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Grab the small black stand for payments using the left arm, lift, and rotate until QR code faces you.", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Use the left arm to grab the small black stand for payments, lift, and turn it QR code forward", + "Using the left arm, catch the slanted gray panel for QR code scan and rotate it to face the QR code.", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Take the black base with tilted gray panel, raise it, and make the qrcode face you.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Catch the small payment stand with black base with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to take the paymentsign and turn it until the QR code faces you", + "Lift the green payment logo on gray top with the left arm, then rotate it to make the qrcode visible.", + "Lift the green payment logo on gray top and rotate until its qrcode faces you.", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Employ the left arm to seize the tabletop-sized payment sign, raise it, and rotate it QR-forward", + "Catch the slanted gray panel for QR code scan, raise it, and turn it so the QR code faces you", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Use the left arm to grab the small black stand for payments and rotate QR code towards you.", + "Lift the small payment stand with black base and rotate it until the QR code faces you.", + "Grab the payment sign with green logo, pick it up, and turn its qrcode toward you.", + "Use the left arm to pick the small payment stand with black base and turn it towards you.", + "Use the left arm to grab the payment sign with angled face and rotate the qrcode to face you.", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Catch and lift the triangular stand with QR code, then turn it to show the QR code.", + "Catch the small payment stand with black base off the table and rotate its qrcode to you.", + "Pick up the green payment logo on gray top and adjust its position to face the qrcode towards you.", + "Grab the black base with tilted gray panel with the left arm, then rotate it to face yourself.", + "Lift the slanted gray panel for QR code scan from the table and rotate it towards you", + "Lift the tabletop-sized payment sign and rotate for its qrcode to face you.", + "Catch the payment sign with green logo, lift, and rotate to align the qrcode to you.", + "Lift the payment sign with green logo from the table, turning it QR code forward.", + "Lift the slanted gray panel for QR code scan and orient its QR code toward you with the left arm.", + "Use the left arm to lift the triangular stand with QR code from the table and face the qrcode.", + "Lift the black base with tilted gray panel from the table and turn it to face you.", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Catch the black base with tilted gray panel, lift it, and rotate it QR code facing.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate it until the QR faces forward", + "Use the left arm to lift the black base with tilted gray panel and rotate it QR code toward you.", + "Use the left arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Use the left arm to grab the small payment stand with black base and point its QR code toward you.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Pick the gray slanted panel with text up and turn its QR code toward you using the left arm.", + "Grab the tabletop-sized payment sign using the left arm, then rotate the QR code to face forward.", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Grab the gray slanted panel with text using the left arm, then rotate it until the qrcode faces you.", + "Catch the gray slanted panel with text using the left arm, pick it up, and turn it to face the QR code.", + "Catch the green payment logo on gray top, lift it, and adjust its QR code to face you.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Take the slanted gray panel for QR code scan, lift it, and orient it so the QR faces you", + "Grab the black base with tilted gray panel using the left arm, lift, and rotate until QR code faces you.", + "Pick the payment sign with angled face up, then rotate to make its qrcode visible.", + "Use the left arm to grab the small payment stand with black base, lift, and turn it QR code forward", + "Using the left arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Catch the triangular stand with QR code with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to take the gray slanted panel with text and turn it until the QR code faces you", + "Lift the gray top with QR code with the left arm, then rotate it to make the qrcode visible.", + "Lift the tabletop-sized payment sign and rotate until its qrcode faces you.", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Employ the left arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Catch the gray slanted panel with text, raise it, and turn it so the QR code faces you", + "Pick up the slanted gray panel for QR code scan and rotate it so the QR code faces you", + "Catch the black base with tilted gray panel, pick it up, and rotate to show the QR code.", + "Find the slanted gray panel for QR code scan, grab it, and turn it towards yourself.", + "Use the left arm to grab the small payment stand with black base and rotate QR code towards you.", + "Lift the gray slanted panel with text and rotate it until the QR code faces you.", + "Grab the payment sign with angled face, pick it up, and turn its qrcode toward you.", + "Use the left arm to pick the paymentsign and turn it towards you.", + "Use the left arm to grab the black base with tilted gray panel and rotate the qrcode to face you.", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Catch and lift the small payment stand with black base, then turn it to show the QR code.", + "Catch the green payment logo on gray top off the table and rotate its qrcode to you.", + "Pick up the gray top with QR code and adjust its position to face the qrcode towards you.", + "Grab the tabletop-sized payment sign with the left arm, then rotate it to face yourself.", + "Lift the small black stand for payments from the table and rotate it towards you", + "Lift the payment sign with green logo and rotate for its qrcode to face you.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Lift the black base with tilted gray panel from the table, turning it QR code forward.", + "Lift the payment sign with angled face and orient its QR code toward you with the left arm.", + "Use the left arm to lift the slanted gray panel for QR code scan from the table and face the qrcode.", + "Lift the triangular stand with QR code from the table and turn it to face you.", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Use the left arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Use the left arm to lift the payment sign with green logo and rotate it QR code toward you.", + "Use the left arm to grab the payment sign with angled face, rotate, and face the QR code towards you.", + "Use the left arm to grab the green payment logo on gray top and point its QR code toward you." + ], + "unseen": [ + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode47.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..905be676728226b27e20d8bf5055f092c0a23ef8 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the paymentsign with angled black stand, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the rectangular plastic paymentsign with codes and rotate the qrcode to face you.", + "Pick up the paymentsign for scanning QR codes and rotate it so the QR code faces you", + "Catch the rectangular plastic paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with glossy blue panel, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the small paymentsign with stand, rotate, and face the QR code towards you.", + "Take the paymentsign with glossy blue panel, raise it, and make the qrcode face you.", + "Pick up the paymentsign with printed QR codes and adjust its position to face the qrcode towards you.", + "Find the blue and white rectangular paymentsign, grab it, and turn it towards yourself.", + "Catch the blue and white rectangular paymentsign off the table and rotate its qrcode to you.", + "Catch the blue and white rectangular paymentsign, raise it, and turn it so the QR code faces you", + "Lift the paymentsign with printed QR codes from the table and turn it to face you.", + "Grab the blue and white paymentsign, lift it from the table, and rotate it QR front", + "Pick the rectangular plastic paymentsign with codes up and turn its QR code toward you using the right arm.", + "Using the right arm, catch the paymentsign with printed QR codes and rotate it to face the QR code.", + "Use the right arm to grab the paymentsign with angled black stand and point its QR code toward you.", + "Employ the right arm to seize the small glossy paymentsign, raise it, and rotate it QR-forward", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Pick the blue and white rectangular paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the small paymentsign with stand using the right arm, then rotate the QR code to face forward.", + "Use the right arm to take the paymentsign with printed QR codes and turn it until the QR code faces you", + "Take the small paymentsign with stand from the table, rotating it QR code toward you.", + "Catch the small glossy paymentsign with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the paymentsign with glossy blue panel and rotate it until the QR faces forward", + "Catch and lift the blue and white paymentsign, then turn it to show the QR code.", + "Lift the blue and white rectangular paymentsign and rotate it until the QR code faces you.", + "Lift the small glossy paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Lift the paymentsign for scanning QR codes from the table and rotate it so the code faces you.", + "Pick the rectangular plastic paymentsign up, then rotate to make its qrcode visible.", + "Lift the blue and white paymentsign from the table, turning it QR code forward.", + "Use the right arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Grab the paymentsign with printed QR codes using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the paymentsign with angled black stand and rotate QR code towards you.", + "Locate the rectangular plastic paymentsign, pick it up, and adjust its angle.", + "Lift the paymentsign with angled black stand from the table and rotate it towards you", + "Lift the smooth surface paymentsign and orient its QR code toward you with the right arm.", + "Take the paymentsign with angled black stand, lift it, and orient it so the QR faces you", + "Slide the small glossy paymentsign off the table and turn it to face you.", + "Catch the rectangular plastic paymentsign with codes, lift it, and rotate it QR code facing.", + "Lift the rectangular plastic paymentsign with codes and rotate for its qrcode to face you.", + "Catch the blue and white paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to pick the rectangular plastic paymentsign and turn it towards you.", + "Lift the paymentsign with angled black stand from the surface and adjust its angle towards you", + "Grab the blue and white rectangular paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the rectangular plastic paymentsign, pick it up, and rotate to show the QR code.", + "Lift the small paymentsign with stand and rotate until its qrcode faces you.", + "Use the right arm to grab the blue and white rectangular paymentsign, lift, and turn it QR code forward", + "Use the right arm to lift the rectangular plastic paymentsign with codes from the table and face the qrcode.", + "Catch the paymentsign with printed QR codes, lift it, and adjust its QR code to face you.", + "Grab the rectangular plastic paymentsign with the right arm, then rotate it to face yourself.", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the paymentsign with glossy blue panel and rotate the qrcode to face you.", + "Pick up the paymentsign with angled black stand and rotate it so the QR code faces you", + "Catch the blue and white rectangular paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with glossy blue panel, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the paymentsign with angled black stand, rotate, and face the QR code towards you.", + "Take the blue and white rectangular paymentsign, raise it, and make the qrcode face you.", + "Pick up the paymentsign for scanning QR codes and adjust its position to face the qrcode towards you.", + "Find the small glossy paymentsign, grab it, and turn it towards yourself.", + "Catch the rectangular plastic paymentsign off the table and rotate its qrcode to you.", + "Catch the tabletop paymentsign, raise it, and turn it so the QR code faces you", + "Lift the paymentsign with printed QR codes from the table and turn it to face you.", + "Grab the smooth surface paymentsign, lift it from the table, and rotate it QR front", + "Pick the blue and white paymentsign up and turn its QR code toward you using the right arm.", + "Using the right arm, catch the paymentsign with glossy blue panel and rotate it to face the QR code.", + "Use the right arm to grab the paymentsign with glossy blue panel and point its QR code toward you.", + "Employ the right arm to seize the rectangular plastic paymentsign with codes, raise it, and rotate it QR-forward", + "Grab the blue and white paymentsign, pick it up, and turn its qrcode toward you.", + "Pick the rectangular plastic paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the blue and white rectangular paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Take the rectangular plastic paymentsign with codes from the table, rotating it QR code toward you.", + "Catch the rectangular plastic paymentsign with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the smooth surface paymentsign and rotate it until the QR faces forward", + "Catch and lift the smooth surface paymentsign, then turn it to show the QR code.", + "Lift the paymentsign with angled black stand and rotate it until the QR code faces you.", + "Lift the blue and white rectangular paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Lift the paymentsign with printed QR codes from the table and rotate it so the code faces you.", + "Pick the paymentsign for scanning QR codes up, then rotate to make its qrcode visible.", + "Lift the rectangular plastic paymentsign from the table, turning it QR code forward.", + "Use the right arm to lift the small paymentsign with stand and rotate it QR code toward you.", + "Grab the small paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the paymentsign with printed QR codes and rotate QR code towards you.", + "Locate the paymentsign with glossy blue panel, pick it up, and adjust its angle.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Lift the small glossy paymentsign and orient its QR code toward you with the right arm.", + "Take the blue and white rectangular paymentsign, lift it, and orient it so the QR faces you", + "Slide the small paymentsign with stand off the table and turn it to face you.", + "Catch the paymentsign with glossy blue panel, lift it, and rotate it QR code facing.", + "Lift the paymentsign for scanning QR codes and rotate for its qrcode to face you.", + "Catch the paymentsign with angled black stand, lift, and rotate to align the qrcode to you.", + "Use the right arm to pick the rectangular plastic paymentsign and turn it towards you.", + "Lift the rectangular plastic paymentsign from the surface and adjust its angle towards you", + "Grab the rectangular plastic paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with printed QR codes, pick it up, and rotate to show the QR code.", + "Lift the rectangular plastic paymentsign with codes and rotate until its qrcode faces you.", + "Use the right arm to grab the blue and white paymentsign, lift, and turn it QR code forward", + "Use the right arm to lift the small glossy paymentsign from the table and face the qrcode.", + "Catch the paymentsign with angled black stand, lift it, and adjust its QR code to face you.", + "Grab the small paymentsign with stand with the right arm, then rotate it to face yourself." + ], + "unseen": [ + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode48.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..cae81f1872e5721a93664d05f41502c4787d5903 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the paymentsign with glossy blue panel off the table and rotate its qrcode to you.", + "Grab the tabletop paymentsign with the right arm, then rotate it to face yourself.", + "Lift the rectangular plastic paymentsign from the table and rotate it towards you", + "Use the right arm to grab the rectangular plastic paymentsign, rotate, and face the QR code towards you.", + "Use the right arm to grab the tabletop paymentsign and rotate QR code towards you.", + "Catch the small paymentsign with stand with the right arm, then rotate it to make the QR code visible.", + "Locate the small paymentsign with stand, pick it up, and adjust its angle.", + "Grab the smooth surface paymentsign using the right arm, then rotate the QR code to face forward.", + "Lift the blue and white paymentsign and rotate until its qrcode faces you.", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Catch the rectangular plastic paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the small paymentsign with stand and rotate the qrcode to face you.", + "Use the right arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Find the blue and white paymentsign, grab it, and turn it towards yourself.", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Lift the blue and white rectangular paymentsign from the table, turning it QR code forward.", + "Use the right arm to grab the paymentsign for scanning QR codes and point its QR code toward you.", + "Employ the right arm to seize the blue and white paymentsign, raise it, and rotate it QR-forward", + "Use the right arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Grab the small paymentsign with stand, lift it from the table, and rotate it QR front", + "Catch the paymentsign with glossy blue panel using the right arm, pick it up, and turn it to face the QR code.", + "Pick the paymentsign for scanning QR codes up, then rotate to make its qrcode visible.", + "Lift the blue and white paymentsign from the table and turn it to face you.", + "Lift the paymentsign with printed QR codes and orient its QR code toward you with the right arm.", + "Use the right arm to lift the small glossy paymentsign from the table and face the qrcode.", + "Lift the paymentsign for scanning QR codes and rotate it until the QR code faces you.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Catch and lift the paymentsign with printed QR codes, then turn it to show the QR code.", + "Use the right arm to grab the small paymentsign with stand and rotate it until the QR faces forward", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to view the qrcode.", + "Grab the rectangular plastic paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the small glossy paymentsign, lift it, and rotate it QR code facing.", + "Slide the rectangular plastic paymentsign off the table and turn it to face you.", + "Catch the paymentsign with glossy blue panel, raise it, and turn it so the QR code faces you", + "Lift the tabletop paymentsign from the surface and adjust its angle towards you", + "Lift the paymentsign with glossy blue panel with the right arm, then rotate it to make the qrcode visible.", + "Pick up the small paymentsign with stand and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the rectangular plastic paymentsign with codes, lift, and turn it QR code forward", + "Pick the paymentsign with angled black stand up and turn its QR code toward you using the right arm.", + "Use the right arm to pick the rectangular plastic paymentsign with codes and turn it towards you.", + "Lift the small paymentsign with stand and rotate for its qrcode to face you.", + "Grab the paymentsign with printed QR codes using the right arm, then rotate it until the qrcode faces you.", + "Take the paymentsign for scanning QR codes, raise it, and make the qrcode face you.", + "Take the blue and white rectangular paymentsign, lift it, and orient it so the QR faces you", + "Catch the paymentsign with printed QR codes, lift it, and turn the qrcode towards you.", + "Catch the blue and white paymentsign, pick it up, and rotate to show the QR code.", + "Lift the smooth surface paymentsign from the table and rotate it so the code faces you.", + "Grab the paymentsign for scanning QR codes using the right arm, lift, and rotate until QR code faces you.", + "Pick up the small paymentsign with stand and rotate it so the QR code faces you", + "Using the right arm, catch the small glossy paymentsign and rotate it to face the QR code.", + "Catch the blue and white paymentsign off the table and rotate its qrcode to you.", + "Grab the small paymentsign with stand with the right arm, then rotate it to face yourself.", + "Lift the paymentsign with printed QR codes from the table and rotate it towards you", + "Use the right arm to grab the blue and white paymentsign, rotate, and face the QR code towards you.", + "Use the right arm to grab the small paymentsign with stand and rotate QR code towards you.", + "Catch the small paymentsign with stand with the right arm, then rotate it to make the QR code visible.", + "Locate the blue and white rectangular paymentsign, pick it up, and adjust its angle.", + "Grab the rectangular plastic paymentsign using the right arm, then rotate the QR code to face forward.", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Catch the paymentsign for scanning QR codes, lift it, and adjust its QR code to face you.", + "Catch the small paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the blue and white paymentsign and rotate the qrcode to face you.", + "Use the right arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Find the rectangular plastic paymentsign with codes, grab it, and turn it towards yourself.", + "Pick the blue and white paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign for scanning QR codes from the table, turning it QR code forward.", + "Use the right arm to grab the blue and white rectangular paymentsign and point its QR code toward you.", + "Employ the right arm to seize the small paymentsign with stand, raise it, and rotate it QR-forward", + "Use the right arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Grab the small paymentsign with stand, lift it from the table, and rotate it QR front", + "Catch the paymentsign for scanning QR codes using the right arm, pick it up, and turn it to face the QR code.", + "Pick the small glossy paymentsign up, then rotate to make its qrcode visible.", + "Lift the blue and white rectangular paymentsign from the table and turn it to face you.", + "Lift the paymentsign for scanning QR codes and orient its QR code toward you with the right arm.", + "Use the right arm to lift the smooth surface paymentsign from the table and face the qrcode.", + "Lift the paymentsign with angled black stand and rotate it until the QR code faces you.", + "Take the blue and white rectangular paymentsign from the table, rotating it QR code toward you.", + "Catch and lift the small glossy paymentsign, then turn it to show the QR code.", + "Use the right arm to grab the rectangular plastic paymentsign and rotate it until the QR faces forward", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the blue and white paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the smooth surface paymentsign, lift it, and rotate it QR code facing.", + "Slide the paymentsign for scanning QR codes off the table and turn it to face you.", + "Catch the smooth surface paymentsign, raise it, and turn it so the QR code faces you", + "Lift the smooth surface paymentsign from the surface and adjust its angle towards you", + "Lift the smooth surface paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Pick up the paymentsign with printed QR codes and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the rectangular plastic paymentsign, lift, and turn it QR code forward", + "Pick the small paymentsign with stand up and turn its QR code toward you using the right arm.", + "Use the right arm to pick the rectangular plastic paymentsign with codes and turn it towards you.", + "Lift the rectangular plastic paymentsign and rotate for its qrcode to face you.", + "Grab the tabletop paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Take the paymentsign for scanning QR codes, raise it, and make the qrcode face you.", + "Take the paymentsign for scanning QR codes, lift it, and orient it so the QR faces you", + "Catch the blue and white paymentsign, lift it, and turn the qrcode towards you.", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to show the QR code.", + "Lift the blue and white rectangular paymentsign from the table and rotate it so the code faces you.", + "Grab the blue and white paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Pick up the rectangular plastic paymentsign and rotate it so the QR code faces you", + "Using the right arm, catch the paymentsign for scanning QR codes and rotate it to face the QR code." + ], + "unseen": [ + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode49.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..c9839ef377f0ad3e8d1b7a567103bbccf4e924f7 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the paymentsign with printed QR codes using the right arm, then rotate it until the qrcode faces you.", + "Catch the small paymentsign with stand, pick it up, and rotate to show the QR code.", + "Grab the tabletop paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Pick the paymentsign with glossy blue panel up, rotate it, and ensure the QR code faces you.", + "Use the right arm to take the small paymentsign with stand and turn it until the QR code faces you", + "Take the small glossy paymentsign from the table, rotating it QR code toward you.", + "Pick up the rectangular plastic paymentsign with codes and adjust its position to face the qrcode towards you.", + "Catch the blue and white rectangular paymentsign, lift it, and turn the qrcode towards you.", + "Find the rectangular plastic paymentsign, grab it, and turn it towards yourself.", + "Catch the paymentsign with glossy blue panel with the right arm, then rotate it to make the QR code visible.", + "Grab the blue and white rectangular paymentsign, lift it from the table, and rotate it QR front", + "Catch the paymentsign with printed QR codes, raise it, and turn it so the QR code faces you", + "Pick the blue and white rectangular paymentsign up and turn its QR code toward you using the right arm.", + "Take the tabletop paymentsign, raise it, and make the qrcode face you.", + "Lift the small glossy paymentsign and rotate until its qrcode faces you.", + "Use the right arm to grab the smooth surface paymentsign, lift, and turn it QR code forward", + "Lift the blue and white rectangular paymentsign from the table, turning it QR code forward.", + "Use the right arm to grab the paymentsign with glossy blue panel and rotate QR code towards you.", + "Slide the rectangular plastic paymentsign with codes off the table and turn it to face you.", + "Pick the paymentsign with angled black stand up, then rotate to make its qrcode visible.", + "Catch the paymentsign with angled black stand, lift it, and adjust its QR code to face you.", + "Catch the paymentsign with glossy blue panel, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign for scanning QR codes off the table and rotate its qrcode to you.", + "Lift the blue and white rectangular paymentsign from the table and rotate it so the code faces you.", + "Grab the smooth surface paymentsign with the right arm, then rotate it to face yourself.", + "Lift the rectangular plastic paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the small paymentsign with stand using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign for scanning QR codes, lift it, and rotate it QR code facing.", + "Pick up the blue and white rectangular paymentsign and rotate it so the QR code faces you", + "Grab the rectangular plastic paymentsign, pick it up, and turn its qrcode toward you.", + "Employ the right arm to seize the small glossy paymentsign, raise it, and rotate it QR-forward", + "Lift the small glossy paymentsign and rotate it until the QR code faces you.", + "Using the right arm, catch the paymentsign with printed QR codes and rotate it to face the QR code.", + "Use the right arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Locate the smooth surface paymentsign, pick it up, and adjust its angle.", + "Lift the rectangular plastic paymentsign from the table and turn it to face you.", + "Lift the paymentsign with glossy blue panel and orient its QR code toward you with the right arm.", + "Take the small glossy paymentsign, lift it, and orient it so the QR faces you", + "Lift the paymentsign with printed QR codes from the surface and adjust its angle towards you", + "Use the right arm to lift the blue and white rectangular paymentsign from the table and face the qrcode.", + "Lift the small glossy paymentsign from the table and rotate it towards you", + "Grab the paymentsign with printed QR codes using the right arm, then rotate the QR code to face forward.", + "Catch the smooth surface paymentsign, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the small glossy paymentsign, rotate, and face the QR code towards you.", + "Use the right arm to grab the small paymentsign with stand and rotate the qrcode to face you.", + "Use the right arm to grab the paymentsign with angled black stand and rotate it until the QR faces forward", + "Lift the blue and white paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the rectangular plastic paymentsign and point its QR code toward you.", + "Catch and lift the tabletop paymentsign, then turn it to show the QR code.", + "Use the right arm to pick the paymentsign with angled black stand and turn it towards you.", + "Grab the small paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Catch the small paymentsign with stand, pick it up, and rotate to show the QR code.", + "Grab the paymentsign with angled black stand using the right arm, lift, and rotate until QR code faces you.", + "Pick the small paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Use the right arm to take the paymentsign with printed QR codes and turn it until the QR code faces you", + "Take the small paymentsign with stand from the table, rotating it QR code toward you.", + "Pick up the blue and white rectangular paymentsign and adjust its position to face the qrcode towards you.", + "Catch the smooth surface paymentsign, lift it, and turn the qrcode towards you.", + "Find the rectangular plastic paymentsign, grab it, and turn it towards yourself.", + "Catch the blue and white paymentsign with the right arm, then rotate it to make the QR code visible.", + "Grab the rectangular plastic paymentsign with codes, lift it from the table, and rotate it QR front", + "Catch the blue and white paymentsign, raise it, and turn it so the QR code faces you", + "Pick the paymentsign with glossy blue panel up and turn its QR code toward you using the right arm.", + "Take the rectangular plastic paymentsign, raise it, and make the qrcode face you.", + "Lift the paymentsign with printed QR codes and rotate until its qrcode faces you.", + "Use the right arm to grab the blue and white paymentsign, lift, and turn it QR code forward", + "Lift the small paymentsign with stand from the table, turning it QR code forward.", + "Use the right arm to grab the small glossy paymentsign and rotate QR code towards you.", + "Slide the smooth surface paymentsign off the table and turn it to face you.", + "Pick the tabletop paymentsign up, then rotate to make its qrcode visible.", + "Catch the paymentsign with glossy blue panel, lift it, and adjust its QR code to face you.", + "Catch the small glossy paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the rectangular plastic paymentsign with codes off the table and rotate its qrcode to you.", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it so the code faces you.", + "Grab the blue and white rectangular paymentsign with the right arm, then rotate it to face yourself.", + "Lift the tabletop paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the small glossy paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the rectangular plastic paymentsign, lift it, and rotate it QR code facing.", + "Pick up the blue and white rectangular paymentsign and rotate it so the QR code faces you", + "Grab the rectangular plastic paymentsign with codes, pick it up, and turn its qrcode toward you.", + "Employ the right arm to seize the rectangular plastic paymentsign with codes, raise it, and rotate it QR-forward", + "Lift the blue and white paymentsign and rotate it until the QR code faces you.", + "Using the right arm, catch the paymentsign with angled black stand and rotate it to face the QR code.", + "Use the right arm to lift the small paymentsign with stand and rotate it QR code toward you.", + "Locate the blue and white rectangular paymentsign, pick it up, and adjust its angle.", + "Lift the rectangular plastic paymentsign with codes from the table and turn it to face you.", + "Lift the blue and white rectangular paymentsign and orient its QR code toward you with the right arm.", + "Take the smooth surface paymentsign, lift it, and orient it so the QR faces you", + "Lift the rectangular plastic paymentsign with codes from the surface and adjust its angle towards you", + "Use the right arm to lift the paymentsign for scanning QR codes from the table and face the qrcode.", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it towards you", + "Grab the blue and white rectangular paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the blue and white paymentsign, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the rectangular plastic paymentsign, rotate, and face the QR code towards you.", + "Use the right arm to grab the paymentsign with angled black stand and rotate the qrcode to face you.", + "Use the right arm to grab the paymentsign with glossy blue panel and rotate it until the QR faces forward", + "Lift the smooth surface paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the paymentsign with printed QR codes and point its QR code toward you.", + "Catch and lift the blue and white paymentsign, then turn it to show the QR code.", + "Use the right arm to pick the paymentsign for scanning QR codes and turn it towards you." + ], + "unseen": [ + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode5.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..d3dcd6e25eab36ce6e87c57575399fb1605731b0 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the small black stand for payments and adjust its position to face the qrcode towards you.", + "Pick the gray top with QR code up and turn its QR code toward you using the right arm.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Lift the small black stand for payments from the table, turning it QR code forward.", + "Use the right arm to lift the triangular stand with QR code and rotate it QR code toward you.", + "Employ the right arm to seize the black base with tilted gray panel, raise it, and rotate it QR-forward", + "Take the slanted gray panel for QR code scan from the table, rotating it QR code toward you.", + "Use the right arm to grab the payment sign with green logo and point its QR code toward you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it towards you", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Use the right arm to grab the payment sign with green logo and rotate QR code towards you.", + "Find the tabletop-sized payment sign, grab it, and turn it towards yourself.", + "Catch the payment sign with angled face, lift, and rotate to align the qrcode to you.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Grab the small payment stand with black base using the right arm, then rotate it until the qrcode faces you.", + "Lift the gray top with QR code from the table and rotate it so the code faces you.", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Catch the tabletop-sized payment sign using the right arm, pick it up, and turn it to face the QR code.", + "Grab the gray slanted panel with text using the right arm, lift, and rotate until QR code faces you.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Use the right arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Use the right arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Grab the gray top with QR code using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the payment sign with green logo and rotate the qrcode to face you.", + "Using the right arm, catch the triangular stand with QR code and rotate it to face the QR code.", + "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.", + "Take the small black stand for payments, raise it, and make the qrcode face you.", + "Grab the small black stand for payments, pick it up, and turn its qrcode toward you.", + "Take the black base with tilted gray panel, lift it, and orient it so the QR faces you", + "Lift the slanted gray panel for QR code scan with the right arm, then rotate it to make the qrcode visible.", + "Catch the gray slanted panel with text with the right arm, then rotate it to make the QR code visible.", + "Lift the payment sign with green logo from the surface and adjust its angle towards you", + "Pick up the slanted gray panel for QR code scan and rotate it so the QR code faces you", + "Use the right arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Slide the payment sign with angled face off the table and turn it to face you.", + "Catch the small black stand for payments, raise it, and turn it so the QR code faces you", + "Lift the payment sign with angled face and rotate it until the QR code faces you.", + "Lift the gray top with QR code and orient its QR code toward you with the right arm.", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Use the right arm to lift the small black stand for payments from the table and face the qrcode.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Use the right arm to grab the black base with tilted gray panel and rotate it until the QR faces forward", + "Use the right arm to pick the tabletop-sized payment sign and turn it towards you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Catch the triangular stand with QR code off the table and rotate its qrcode to you.", + "Grab the payment sign with angled face with the right arm, then rotate it to face yourself.", + "Catch the triangular stand with QR code, lift it, and adjust its QR code to face you.", + "Pick up the green payment logo on gray top and adjust its position to face the qrcode towards you.", + "Pick the slanted gray panel for QR code scan up and turn its QR code toward you using the right arm.", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Lift the black base with tilted gray panel from the table, turning it QR code forward.", + "Use the right arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Employ the right arm to seize the gray top with QR code, raise it, and rotate it QR-forward", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Use the right arm to grab the green payment logo on gray top and point its QR code toward you.", + "Lift the triangular stand with QR code from the table and rotate it towards you", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Use the right arm to grab the gray slanted panel with text and rotate QR code towards you.", + "Find the small payment stand with black base, grab it, and turn it towards yourself.", + "Catch the gray top with QR code, lift, and rotate to align the qrcode to you.", + "Grab the gray slanted panel with text, lift it from the table, and rotate it QR front", + "Grab the paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Catch the triangular stand with QR code, pick it up, and rotate to view the qrcode.", + "Catch the slanted gray panel for QR code scan using the right arm, pick it up, and turn it to face the QR code.", + "Grab the tabletop-sized payment sign using the right arm, lift, and rotate until QR code faces you.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Use the right arm to grab the payment sign with green logo, lift, and turn it QR code forward", + "Use the right arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Grab the payment sign with angled face using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the triangular stand with QR code and rotate the qrcode to face you.", + "Using the right arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Take the small black stand for payments, raise it, and make the qrcode face you.", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Take the payment sign with angled face, lift it, and orient it so the QR faces you", + "Lift the black base with tilted gray panel with the right arm, then rotate it to make the qrcode visible.", + "Catch the slanted gray panel for QR code scan with the right arm, then rotate it to make the QR code visible.", + "Lift the payment sign with green logo from the surface and adjust its angle towards you", + "Pick up the black base with tilted gray panel and rotate it so the QR code faces you", + "Use the right arm to take the tabletop-sized payment sign and turn it until the QR code faces you", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Catch the triangular stand with QR code, raise it, and turn it so the QR code faces you", + "Lift the triangular stand with QR code and rotate it until the QR code faces you.", + "Lift the small black stand for payments and orient its QR code toward you with the right arm.", + "Pick the small black stand for payments up, rotate it, and ensure the QR code faces you.", + "Use the right arm to lift the paymentsign from the table and face the qrcode.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Lift the small black stand for payments and rotate until its qrcode faces you.", + "Use the right arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Use the right arm to pick the green payment logo on gray top and turn it towards you.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Lift the small payment stand with black base and rotate for its qrcode to face you.", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Grab the green payment logo on gray top with the right arm, then rotate it to face yourself.", + "Catch the small black stand for payments, lift it, and adjust its QR code to face you." + ], + "unseen": [ + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode6.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..fb6f6e24e683eea415a51cd22adf03a215b9c74e --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the rectangular plastic paymentsign and rotate it so the QR code faces you", + "Use the right arm to grab the small glossy paymentsign, rotate, and face the QR code towards you.", + "Use the right arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Lift the paymentsign for scanning QR codes from the table and rotate it so the code faces you.", + "Take the blue and white paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Catch the blue and white rectangular paymentsign, lift it, and adjust its QR code to face you.", + "Grab the rectangular plastic paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign with glossy blue panel and rotate it until the QR code faces you.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Use the right arm to lift the blue and white paymentsign and rotate it QR code toward you.", + "Lift the paymentsign with angled black stand and orient its QR code toward you with the right arm.", + "Lift the small glossy paymentsign from the table, turning it QR code forward.", + "Use the right arm to lift the paymentsign with angled black stand from the table and face the qrcode.", + "Pick up the paymentsign with printed QR codes and adjust its position to face the qrcode towards you.", + "Take the blue and white rectangular paymentsign, lift it, and orient it so the QR faces you", + "Use the right arm to grab the paymentsign with angled black stand and rotate QR code towards you.", + "Pick the paymentsign with printed QR codes up, then rotate to make its qrcode visible.", + "Lift the smooth surface paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Pick the paymentsign for scanning QR codes up and turn its QR code toward you using the right arm.", + "Lift the rectangular plastic paymentsign with codes and rotate for its qrcode to face you.", + "Grab the tabletop paymentsign using the right arm, then rotate the QR code to face forward.", + "Grab the paymentsign with printed QR codes, lift it from the table, and rotate it QR front", + "Catch the paymentsign for scanning QR codes, lift it, and turn the qrcode towards you.", + "Use the right arm to take the small paymentsign with stand and turn it until the QR code faces you", + "Catch the paymentsign with glossy blue panel, raise it, and turn it so the QR code faces you", + "Catch the paymentsign with angled black stand, pick it up, and rotate to show the QR code.", + "Slide the small glossy paymentsign off the table and turn it to face you.", + "Grab the blue and white rectangular paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the small glossy paymentsign and point its QR code toward you.", + "Catch the paymentsign with angled black stand, lift, and rotate to align the qrcode to you.", + "Find the tabletop paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to pick the blue and white paymentsign and turn it towards you.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to view the qrcode.", + "Catch the small paymentsign with stand using the right arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign with angled black stand from the surface and adjust its angle towards you", + "Use the right arm to grab the blue and white paymentsign, lift, and turn it QR code forward", + "Lift the smooth surface paymentsign from the table and rotate it towards you", + "Catch the rectangular plastic paymentsign with codes, lift it, and rotate it QR code facing.", + "Employ the right arm to seize the small paymentsign with stand, raise it, and rotate it QR-forward", + "Grab the paymentsign for scanning QR codes, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign with glossy blue panel with the right arm, then rotate it to make the QR code visible.", + "Catch and lift the paymentsign for scanning QR codes, then turn it to show the QR code.", + "Grab the paymentsign with angled black stand with the right arm, then rotate it to face yourself.", + "Using the right arm, catch the paymentsign for scanning QR codes and rotate it to face the QR code.", + "Catch the paymentsign with printed QR codes off the table and rotate its qrcode to you.", + "Lift the tabletop paymentsign from the table and turn it to face you.", + "Take the small paymentsign with stand, raise it, and make the qrcode face you.", + "Use the right arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Pick up the small paymentsign with stand and rotate it so the QR code faces you", + "Use the right arm to grab the rectangular plastic paymentsign with codes, rotate, and face the QR code towards you.", + "Use the right arm to grab the blue and white paymentsign and rotate it until the QR faces forward", + "Lift the rectangular plastic paymentsign from the table and rotate it so the code faces you.", + "Take the rectangular plastic paymentsign with codes from the table, rotating it QR code toward you.", + "Lift the paymentsign for scanning QR codes and rotate until its qrcode faces you.", + "Catch the smooth surface paymentsign, lift it, and adjust its QR code to face you.", + "Grab the paymentsign with angled black stand using the right arm, then rotate it until the qrcode faces you.", + "Pick the blue and white rectangular paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the small glossy paymentsign and rotate it until the QR code faces you.", + "Locate the rectangular plastic paymentsign, pick it up, and adjust its angle.", + "Use the right arm to lift the smooth surface paymentsign and rotate it QR code toward you.", + "Lift the paymentsign for scanning QR codes and orient its QR code toward you with the right arm.", + "Lift the rectangular plastic paymentsign with codes from the table, turning it QR code forward.", + "Use the right arm to lift the paymentsign with angled black stand from the table and face the qrcode.", + "Pick up the small glossy paymentsign and adjust its position to face the qrcode towards you.", + "Take the rectangular plastic paymentsign with codes, lift it, and orient it so the QR faces you", + "Use the right arm to grab the small glossy paymentsign and rotate QR code towards you.", + "Pick the rectangular plastic paymentsign up, then rotate to make its qrcode visible.", + "Lift the rectangular plastic paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Pick the small glossy paymentsign up and turn its QR code toward you using the right arm.", + "Lift the blue and white rectangular paymentsign and rotate for its qrcode to face you.", + "Grab the paymentsign with printed QR codes using the right arm, then rotate the QR code to face forward.", + "Grab the paymentsign for scanning QR codes, lift it from the table, and rotate it QR front", + "Catch the blue and white paymentsign, lift it, and turn the qrcode towards you.", + "Use the right arm to take the paymentsign with glossy blue panel and turn it until the QR code faces you", + "Catch the rectangular plastic paymentsign with codes, raise it, and turn it so the QR code faces you", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to show the QR code.", + "Slide the blue and white rectangular paymentsign off the table and turn it to face you.", + "Grab the small glossy paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the small paymentsign with stand and point its QR code toward you.", + "Catch the paymentsign for scanning QR codes, lift, and rotate to align the qrcode to you.", + "Find the blue and white paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to pick the small glossy paymentsign and turn it towards you.", + "Catch the paymentsign for scanning QR codes, pick it up, and rotate to view the qrcode.", + "Catch the rectangular plastic paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign with glossy blue panel from the surface and adjust its angle towards you", + "Use the right arm to grab the paymentsign for scanning QR codes, lift, and turn it QR code forward", + "Lift the paymentsign with glossy blue panel from the table and rotate it towards you", + "Catch the rectangular plastic paymentsign with codes, lift it, and rotate it QR code facing.", + "Employ the right arm to seize the paymentsign with glossy blue panel, raise it, and rotate it QR-forward", + "Grab the rectangular plastic paymentsign with codes, pick it up, and turn its qrcode toward you.", + "Catch the small glossy paymentsign with the right arm, then rotate it to make the QR code visible.", + "Catch and lift the paymentsign with glossy blue panel, then turn it to show the QR code.", + "Grab the small glossy paymentsign with the right arm, then rotate it to face yourself.", + "Using the right arm, catch the rectangular plastic paymentsign and rotate it to face the QR code.", + "Catch the small paymentsign with stand off the table and rotate its qrcode to you.", + "Lift the blue and white rectangular paymentsign from the table and turn it to face you.", + "Take the paymentsign with angled black stand, raise it, and make the qrcode face you.", + "Use the right arm to grab the rectangular plastic paymentsign and rotate the qrcode to face you." + ], + "unseen": [ + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode7.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..16a8d00fe26d18a8bf349637429fdc6c874ec9f0 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Lift the black base with tilted gray panel from the surface and adjust its angle towards you", + "Lift the gray top with QR code from the table, turning it QR code forward.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Use the right arm to lift the gray top with QR code from the table and face the qrcode.", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Catch the triangular stand with QR code, lift it, and turn the qrcode towards you.", + "Pick the gray top with QR code up, rotate it, and ensure the QR code faces you.", + "Lift the tabletop-sized payment sign and rotate until its qrcode faces you.", + "Catch the tabletop-sized payment sign with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the gray top with QR code and rotate it until the QR faces forward", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Use the right arm to lift the payment sign with green logo and rotate it QR code toward you.", + "Catch the slanted gray panel for QR code scan using the right arm, pick it up, and turn it to face the QR code.", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Grab the payment sign with green logo using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the payment sign with angled face, rotate, and face the QR code towards you.", + "Take the small payment stand with black base, lift it, and orient it so the QR faces you", + "Lift the small black stand for payments from the table and rotate it towards you", + "Use the right arm to pick the paymentsign and turn it towards you.", + "Employ the right arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Lift the black base with tilted gray panel and orient its QR code toward you with the right arm.", + "Using the right arm, catch the green payment logo on gray top and rotate it to face the QR code.", + "Grab the gray slanted panel with text using the right arm, then rotate it until the qrcode faces you.", + "Grab the gray top with QR code with the right arm, then rotate it to face yourself.", + "Lift the slanted gray panel for QR code scan and rotate it until the QR code faces you.", + "Catch the payment sign with angled face, lift it, and rotate it QR code facing.", + "Catch and lift the small black stand for payments, then turn it to show the QR code.", + "Use the right arm to grab the tabletop-sized payment sign and point its QR code toward you.", + "Grab the payment sign with green logo using the right arm, lift, and rotate until QR code faces you.", + "Catch the small payment stand with black base, pick it up, and rotate to show the QR code.", + "Catch the slanted gray panel for QR code scan, lift, and rotate to align the qrcode to you.", + "Find the gray top with QR code, grab it, and turn it towards yourself.", + "Lift the small payment stand with black base from the table and turn it to face you.", + "Lift the small black stand for payments with the right arm, then rotate it to make the qrcode visible.", + "Slide the paymentsign off the table and turn it to face you.", + "Pick the payment sign with green logo up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the gray top with QR code, lift, and turn it QR code forward", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the tabletop-sized payment sign and rotate the qrcode to face you.", + "Pick up the paymentsign and rotate it so the QR code faces you", + "Use the right arm to grab the black base with tilted gray panel and rotate QR code towards you.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Take the payment sign with green logo from the table, rotating it QR code toward you.", + "Use the right arm to take the paymentsign and turn it until the QR code faces you", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Lift the slanted gray panel for QR code scan and rotate for its qrcode to face you.", + "Catch the small payment stand with black base off the table and rotate its qrcode to you.", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Lift the slanted gray panel for QR code scan from the table, turning it QR code forward.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Use the right arm to lift the slanted gray panel for QR code scan from the table and face the qrcode.", + "Pick the payment sign with angled face up, then rotate to make its qrcode visible.", + "Catch the tabletop-sized payment sign, lift it, and turn the qrcode towards you.", + "Pick the small black stand for payments up, rotate it, and ensure the QR code faces you.", + "Lift the payment sign with green logo and rotate until its qrcode faces you.", + "Catch the small black stand for payments with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the black base with tilted gray panel and rotate it until the QR faces forward", + "Catch the gray top with QR code, raise it, and turn it so the QR code faces you", + "Use the right arm to lift the small black stand for payments and rotate it QR code toward you.", + "Catch the tabletop-sized payment sign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the tabletop-sized payment sign, lift it, and adjust its QR code to face you.", + "Grab the gray slanted panel with text using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the small black stand for payments, rotate, and face the QR code towards you.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Lift the paymentsign from the table and rotate it towards you", + "Use the right arm to pick the slanted gray panel for QR code scan and turn it towards you.", + "Employ the right arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Lift the small black stand for payments and orient its QR code toward you with the right arm.", + "Using the right arm, catch the black base with tilted gray panel and rotate it to face the QR code.", + "Grab the black base with tilted gray panel using the right arm, then rotate it until the qrcode faces you.", + "Grab the gray top with QR code with the right arm, then rotate it to face yourself.", + "Lift the slanted gray panel for QR code scan and rotate it until the QR code faces you.", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Use the right arm to grab the slanted gray panel for QR code scan and point its QR code toward you.", + "Grab the payment sign with angled face using the right arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Catch the gray slanted panel with text, lift, and rotate to align the qrcode to you.", + "Find the black base with tilted gray panel, grab it, and turn it towards yourself.", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Lift the black base with tilted gray panel with the right arm, then rotate it to make the qrcode visible.", + "Slide the gray top with QR code off the table and turn it to face you.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the triangular stand with QR code and rotate the qrcode to face you.", + "Pick up the small payment stand with black base and rotate it so the QR code faces you", + "Use the right arm to grab the triangular stand with QR code and rotate QR code towards you.", + "Grab the slanted gray panel for QR code scan, lift it from the table, and rotate it QR front", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Use the right arm to take the triangular stand with QR code and turn it until the QR code faces you", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Lift the tabletop-sized payment sign and rotate for its qrcode to face you.", + "Catch the tabletop-sized payment sign off the table and rotate its qrcode to you." + ], + "unseen": [ + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode8.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca316cab5fcdf945ca0c416cff9f3ce4ea304e0 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the paymentsign resting on angled base using the right arm, then rotate it until the qrcode faces you.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to show the QR code.", + "Use the right arm to pick the beige paymentsign with printed details and turn it towards you.", + "Lift the QR code paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Grab the beige paymentsign, lift it from the table, and rotate it QR front", + "Slide the paymentsign showing QR code label off the table and turn it to face you.", + "Grab the paymentsign showing QR code label using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the paymentsign resting on angled base and rotate QR code towards you.", + "Using the right arm, catch the stand-up paymentsign with rectangular top and rotate it to face the QR code.", + "Take the paymentsign showing QR code label from the table, rotating it QR code toward you.", + "Use the right arm to grab the compact paymentsign for scanning payments, rotate, and face the QR code towards you.", + "Pick up the compact paymentsign for scanning payments and rotate it so the QR code faces you", + "Catch the smooth beige paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the smooth beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.", + "Lift the QR code paymentsign and rotate until its qrcode faces you.", + "Grab the paymentsign showing QR code label, pick it up, and turn its qrcode toward you.", + "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the right arm.", + "Catch the paymentsign with tilted rectangular panel with the right arm, then rotate it to make the QR code visible.", + "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.", + "Catch the beige paymentsign with printed details, lift it, and turn the qrcode towards you.", + "Pick the small paymentsign for mobile payments up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the QR code paymentsign and point its QR code toward you.", + "Employ the right arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward", + "Lift the paymentsign showing QR code label and rotate for its qrcode to face you.", + "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you.", + "Catch the beige paymentsign with printed details, lift, and rotate to align the qrcode to you.", + "Lift the beige paymentsign from the table and rotate it towards you", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.", + "Lift the beige paymentsign from the surface and adjust its angle towards you", + "Use the right arm to take the paymentsign with tilted rectangular panel and turn it until the QR code faces you", + "Take the paymentsign showing QR code label, lift it, and orient it so the QR faces you", + "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.", + "Use the right arm to lift the beige paymentsign and rotate it QR code toward you.", + "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.", + "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you", + "Locate the QR code paymentsign, pick it up, and adjust its angle.", + "Catch and lift the compact paymentsign for scanning payments, then turn it to show the QR code.", + "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Use the right arm to grab the beige paymentsign and rotate it until the QR faces forward", + "Use the right arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward", + "Catch the beige paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Grab the beige paymentsign with the right arm, then rotate it to face yourself.", + "Lift the smooth beige paymentsign from the table and turn it to face you.", + "Use the right arm to lift the paymentsign resting on angled base from the table and face the qrcode.", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Grab the paymentsign with tilted rectangular panel using the right arm, then rotate it until the qrcode faces you.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to show the QR code.", + "Use the right arm to pick the small paymentsign for mobile payments and turn it towards you.", + "Lift the smooth beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Grab the paymentsign resting on angled base, lift it from the table, and rotate it QR front", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Grab the paymentsign resting on angled base using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the paymentsign showing QR code label and rotate QR code towards you.", + "Using the right arm, catch the stand-up paymentsign with rectangular top and rotate it to face the QR code.", + "Take the paymentsign with blue and white text from the table, rotating it QR code toward you.", + "Use the right arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to view the qrcode.", + "Grab the rectangular paymentsign with colorful top using the right arm, lift, and rotate until QR code faces you.", + "Pick up the compact paymentsign for scanning payments and adjust its position to face the qrcode towards you.", + "Catch the paymentsign with blue and white text, lift it, and rotate it QR code facing.", + "Lift the paymentsign with tilted rectangular panel and rotate until its qrcode faces you.", + "Grab the paymentsign with tilted rectangular panel, pick it up, and turn its qrcode toward you.", + "Lift the beige paymentsign and orient its QR code toward you with the right arm.", + "Catch the rectangular paymentsign with colorful top with the right arm, then rotate it to make the QR code visible.", + "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Pick the paymentsign with blue and white text up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the beige paymentsign and point its QR code toward you.", + "Employ the right arm to seize the smooth beige paymentsign, raise it, and rotate it QR-forward", + "Lift the compact paymentsign for scanning payments and rotate for its qrcode to face you.", + "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you.", + "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the compact paymentsign for scanning payments from the table and rotate it towards you", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Use the right arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you", + "Use the right arm to take the QR code paymentsign and turn it until the QR code faces you", + "Take the beige paymentsign, lift it, and orient it so the QR faces you", + "Lift the paymentsign showing QR code label from the table and rotate it so the code faces you.", + "Use the right arm to lift the rectangular paymentsign with colorful top and rotate it QR code toward you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and adjust its QR code to face you.", + "Catch the compact paymentsign for scanning payments, raise it, and turn it so the QR code faces you", + "Locate the stand-up paymentsign with rectangular top, pick it up, and adjust its angle.", + "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.", + "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Use the right arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.", + "Grab the paymentsign with blue and white text with the right arm, then rotate it to face yourself.", + "Lift the stand-up paymentsign with rectangular top from the table and turn it to face you.", + "Use the right arm to lift the beige paymentsign with printed details from the table and face the qrcode.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible." + ], + "unseen": [ + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode9.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..721873d31e559fccf6d78942e7db15212640f982 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray slanted panel with text, lift it, and orient it so the QR faces you", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Catch and lift the slanted gray panel for QR code scan, then turn it to show the QR code.", + "Lift the black base with tilted gray panel and rotate for its qrcode to face you.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Lift the triangular stand with QR code from the table and rotate it so the code faces you.", + "Lift the gray slanted panel with text with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the black base with tilted gray panel, lift, and turn it QR code forward", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Catch the tabletop-sized payment sign using the left arm, pick it up, and turn it to face the QR code.", + "Pick the payment sign with angled face up, then rotate to make its qrcode visible.", + "Find the triangular stand with QR code, grab it, and turn it towards yourself.", + "Catch the small black stand for payments, lift, and rotate to align the qrcode to you.", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Catch the slanted gray panel for QR code scan off the table and rotate its qrcode to you.", + "Pick up the payment sign with angled face and rotate it so the QR code faces you", + "Use the left arm to lift the paymentsign and rotate it QR code toward you.", + "Use the left arm to grab the small black stand for payments and rotate QR code towards you.", + "Use the left arm to pick the slanted gray panel for QR code scan and turn it towards you.", + "Pick the gray top with QR code up, rotate it, and ensure the QR code faces you.", + "Catch the small payment stand with black base with the left arm, then rotate it to make the QR code visible.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Lift the payment sign with green logo from the table, turning it QR code forward.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Grab the gray slanted panel with text using the left arm, then rotate the QR code to face forward.", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Employ the left arm to seize the black base with tilted gray panel, raise it, and rotate it QR-forward", + "Use the left arm to take the payment sign with angled face and turn it until the QR code faces you", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.", + "Using the left arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Lift the triangular stand with QR code from the table and turn it to face you.", + "Use the left arm to grab the small payment stand with black base, rotate, and face the QR code towards you.", + "Use the left arm to lift the small payment stand with black base from the table and face the qrcode.", + "Take the triangular stand with QR code from the table, rotating it QR code toward you.", + "Catch the small payment stand with black base, lift it, and adjust its QR code to face you.", + "Lift the tabletop-sized payment sign and rotate until its qrcode faces you.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the left arm.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Lift the green payment logo on gray top and orient its QR code toward you with the left arm.", + "Pick up the small black stand for payments and adjust its position to face the qrcode towards you.", + "Grab the payment sign with green logo with the left arm, then rotate it to face yourself.", + "Use the left arm to grab the gray slanted panel with text and point its QR code toward you.", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Use the left arm to grab the black base with tilted gray panel and rotate it until the QR faces forward", + "Use the left arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Lift the green payment logo on gray top and rotate it until the QR code faces you.", + "Take the payment sign with angled face, lift it, and orient it so the QR faces you", + "Grab the small payment stand with black base, lift it from the table, and rotate it QR front", + "Catch and lift the tabletop-sized payment sign, then turn it to show the QR code.", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Locate the gray slanted panel with text, pick it up, and adjust its angle.", + "Lift the gray slanted panel with text from the table and rotate it so the code faces you.", + "Lift the slanted gray panel for QR code scan with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the small black stand for payments, lift, and turn it QR code forward", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to view the qrcode.", + "Grab the triangular stand with QR code, pick it up, and turn its qrcode toward you.", + "Catch the payment sign with green logo using the left arm, pick it up, and turn it to face the QR code.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Find the green payment logo on gray top, grab it, and turn it towards yourself.", + "Catch the payment sign with green logo, lift, and rotate to align the qrcode to you.", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Catch the black base with tilted gray panel off the table and rotate its qrcode to you.", + "Pick up the triangular stand with QR code and rotate it so the QR code faces you", + "Use the left arm to lift the gray slanted panel with text and rotate it QR code toward you.", + "Use the left arm to grab the gray top with QR code and rotate QR code towards you.", + "Use the left arm to pick the slanted gray panel for QR code scan and turn it towards you.", + "Pick the slanted gray panel for QR code scan up, rotate it, and ensure the QR code faces you.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Catch the small payment stand with black base, raise it, and turn it so the QR code faces you", + "Lift the payment sign with green logo from the table, turning it QR code forward.", + "Lift the gray top with QR code from the surface and adjust its angle towards you", + "Grab the green payment logo on gray top using the left arm, then rotate the QR code to face forward.", + "Catch the payment sign with angled face, lift it, and turn the qrcode towards you.", + "Employ the left arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Use the left arm to take the gray slanted panel with text and turn it until the QR code faces you", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Using the left arm, catch the small black stand for payments and rotate it to face the QR code.", + "Lift the tabletop-sized payment sign from the table and turn it to face you.", + "Use the left arm to grab the small black stand for payments, rotate, and face the QR code towards you.", + "Use the left arm to lift the green payment logo on gray top from the table and face the qrcode.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Lift the small payment stand with black base and rotate until its qrcode faces you.", + "Take the gray slanted panel with text, raise it, and make the qrcode face you.", + "Pick the slanted gray panel for QR code scan up and turn its QR code toward you using the left arm.", + "Grab the payment sign with green logo using the left arm, then rotate it until the qrcode faces you.", + "Lift the small payment stand with black base and orient its QR code toward you with the left arm.", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Grab the black base with tilted gray panel with the left arm, then rotate it to face yourself.", + "Use the left arm to grab the small black stand for payments and point its QR code toward you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it towards you", + "Use the left arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Use the left arm to grab the green payment logo on gray top and rotate the qrcode to face you.", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Lift the gray slanted panel with text and rotate it until the QR code faces you." + ], + "unseen": [ + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/scene_info.json b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/seed.txt b/robotwin_multiembodiments/rotate_qrcode/aloha-agilex/meta/seed.txt new file mode 100644 index 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b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..f3fe0f185a1b74f4ab6322920c9cb51392f1fdb0 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/config.yml @@ -0,0 +1,60 @@ +urdf_path: "./panda.urdf" +srdf_path: "./panda.srdf" +joint_stiffness: 1000 +joint_damping: 200 +gripper_stiffnes: 1000 +gripper_damping: 200 +move_group: ["panda_hand","panda_hand"] +ee_joints: ["panda_hand_joint","panda_hand_joint"] +arm_joints_name: [['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], + ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']] +# gripper_name: [["panda_finger_joint1", "panda_finger_joint2"], +# ["panda_finger_joint1", "panda_finger_joint2"]] +gripper_name: + - base: "panda_finger_joint1" + mimic: [["panda_finger_joint2", 1., 0.]] + - base: "panda_finger_joint1" + mimic: [["panda_finger_joint2", 1., 0.]] +gripper_bias: 0.08 +gripper_scale: [-0.01, 0.05] +homestate: [[0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483], + [0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483]] +# homestate: [[6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04], +# [6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04]] +delta_matrix: [[0,0,1],[0,-1,0],[1,0,0]] +global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] +robot_pose: [[0, -0.65, 0.75, 0.707, 0, 0, 0.707], + [0, -0.65, 0.75, 0.707, 0, 0, 0.707]] # modify +# planner: "mplib_screw" # mplib_screw +planner: "curobo" +dual_arm: False +rotate_lim: [0.1, 0.8] +grasp_perfect_direction: ['right', 'left'] +static_camera_list: +- name: head_camera + position: + - -0.032 + - -0.45 + - 1.35 + forward: + - 0 + - 0.6 + - -0.8 + left: + - -1 + - 0 + - 0 +# - name: front_camera +# type: D435 +# position: +# - 0 +# - -0.45 +# - 0.85 +# forward: +# - 0 +# - 1 +# - -0.1 +# left: +# - -1 +# - 0 +# - 0 \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/info.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..057d54e56925f328d17599f8ba544bee8e763eca --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/info.json @@ -0,0 +1,64 @@ +{ + "task": "rotate_qrcode", + "embodiment": "franka-panda", + "camera_views": [ + "head_camera", + "left_camera", + "right_camera" + ], + "data_resolution": "320x240", + "num_episodes": 50, + "embodiment_config": { + "urdf": "panda.urdf", + "dual_arm": false, + "dis": 0.8, + "left_arm": [ + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7" + ], + "right_arm": [ + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7" + ], + "left_gripper": [ + "panda_finger_joint1", + [ + [ + "panda_finger_joint2", + 1.0, + 0.0 + ] + ] + ], + "right_gripper": [ + "panda_finger_joint1", + [ + [ + "panda_finger_joint2", + 1.0, + 0.0 + ] + ] + ], + "gripper_scale": [ + -0.01, + 0.05 + ], + "grasp_axis": [ + -1.0, + 0.0, + 0.0 + ] + }, + "source_renderer": "render/render_robotwin.py" +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode0.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..785736661edcd69178ec2d4feeb1e615208af37a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Use the right arm to grab the gray slanted panel with text and rotate QR code towards you.", + "Catch the green payment logo on gray top, lift, and rotate to align the qrcode to you.", + "Catch and lift the gray top with QR code, then turn it to show the QR code.", + "Catch the tabletop-sized payment sign using the right arm, pick it up, and turn it to face the QR code.", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Use the right arm to lift the triangular stand with QR code from the table and face the qrcode.", + "Catch the gray top with QR code, lift it, and turn the qrcode towards you.", + "Grab the triangular stand with QR code using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Use the right arm to grab the payment sign with green logo and point its QR code toward you.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Use the right arm to grab the payment sign with angled face, rotate, and face the QR code towards you.", + "Lift the slanted gray panel for QR code scan and orient its QR code toward you with the right arm.", + "Lift the payment sign with angled face with the right arm, then rotate it to make the qrcode visible.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Catch the small payment stand with black base, lift it, and adjust its QR code to face you.", + "Pick the payment sign with green logo up, then rotate to make its qrcode visible.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Grab the tabletop-sized payment sign, pick it up, and turn its qrcode toward you.", + "Grab the gray slanted panel with text using the right arm, then rotate the QR code to face forward.", + "Take the black base with tilted gray panel, lift it, and orient it so the QR faces you", + "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you", + "Employ the right arm to seize the small black stand for payments, raise it, and rotate it QR-forward", + "Lift the gray top with QR code from the table and turn it to face you.", + "Using the right arm, catch the slanted gray panel for QR code scan and rotate it to face the QR code.", + "Lift the gray top with QR code from the surface and adjust its angle towards you", + "Grab the tabletop-sized payment sign with the right arm, then rotate it to face yourself.", + "Lift the tabletop-sized payment sign from the table and rotate it towards you", + "Pick the gray top with QR code up, rotate it, and ensure the QR code faces you.", + "Catch the slanted gray panel for QR code scan, lift it, and rotate it QR code facing.", + "Use the right arm to lift the paymentsign and rotate it QR code toward you.", + "Use the right arm to take the gray slanted panel with text and turn it until the QR code faces you", + "Grab the paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Find the payment sign with green logo, grab it, and turn it towards yourself.", + "Slide the gray slanted panel with text off the table and turn it to face you.", + "Use the right arm to pick the paymentsign and turn it towards you.", + "Use the right arm to grab the payment sign with green logo and rotate the qrcode to face you.", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the small black stand for payments, lift, and turn it QR code forward", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Catch the gray top with QR code with the right arm, then rotate it to make the QR code visible.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Catch the gray top with QR code off the table and rotate its qrcode to you.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the right arm.", + "Lift the triangular stand with QR code and rotate it until the QR code faces you.", + "Lift the gray slanted panel with text from the table and rotate it so the code faces you.", + "Use the right arm to grab the small black stand for payments and rotate QR code towards you.", + "Catch the tabletop-sized payment sign, lift, and rotate to align the qrcode to you.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Catch the tabletop-sized payment sign using the right arm, pick it up, and turn it to face the QR code.", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Catch the small payment stand with black base, pick it up, and rotate to show the QR code.", + "Use the right arm to lift the payment sign with angled face from the table and face the qrcode.", + "Catch the gray slanted panel with text, lift it, and turn the qrcode towards you.", + "Grab the gray top with QR code using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Use the right arm to grab the paymentsign and point its QR code toward you.", + "Take the black base with tilted gray panel from the table, rotating it QR code toward you.", + "Use the right arm to grab the slanted gray panel for QR code scan, rotate, and face the QR code towards you.", + "Lift the triangular stand with QR code and orient its QR code toward you with the right arm.", + "Lift the triangular stand with QR code with the right arm, then rotate it to make the qrcode visible.", + "Take the gray slanted panel with text, raise it, and make the qrcode face you.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Pick the gray slanted panel with text up, then rotate to make its qrcode visible.", + "Lift the slanted gray panel for QR code scan from the table, turning it QR code forward.", + "Grab the payment sign with green logo, lift it from the table, and rotate it QR front", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Grab the small payment stand with black base using the right arm, then rotate the QR code to face forward.", + "Take the slanted gray panel for QR code scan, lift it, and orient it so the QR faces you", + "Catch the payment sign with green logo, raise it, and turn it so the QR code faces you", + "Employ the right arm to seize the tabletop-sized payment sign, raise it, and rotate it QR-forward", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Using the right arm, catch the payment sign with green logo and rotate it to face the QR code.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Grab the green payment logo on gray top with the right arm, then rotate it to face yourself.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Pick the small black stand for payments up, rotate it, and ensure the QR code faces you.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Use the right arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Use the right arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Grab the triangular stand with QR code using the right arm, then rotate it until the qrcode faces you.", + "Find the payment sign with angled face, grab it, and turn it towards yourself.", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Use the right arm to pick the black base with tilted gray panel and turn it towards you.", + "Use the right arm to grab the black base with tilted gray panel and rotate the qrcode to face you.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Lift the gray slanted panel with text and rotate for its qrcode to face you.", + "Catch the gray slanted panel with text with the right arm, then rotate it to make the QR code visible.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Pick the payment sign with angled face up and turn its QR code toward you using the right arm.", + "Lift the triangular stand with QR code and rotate it until the QR code faces you." + ], + "unseen": [ + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode1.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..69f294506453b8b796636efa4050ef41f8fcbc0a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Locate the white paymentsign with raised base, pick it up, and adjust its angle.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Employ the left arm to seize the sign with yellow payment section, raise it, and rotate it QR-forward", + "Catch the smooth plastic paymentsign with QR code, lift it, and rotate it QR code facing.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Use the left arm to grab the paymentsign and rotate QR code towards you.", + "Catch the tabletop paymentsign, lift, and rotate to align the qrcode to you.", + "Pick up the paymentsign with QR code area and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the paymentsign with QR code area and rotate the qrcode to face you.", + "Catch the tabletop paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the rectangular paymentsign with stand and rotate it until the QR faces forward", + "Lift the rectangular paymentsign with stand and orient its QR code toward you with the left arm.", + "Pick up the tabletop paymentsign and rotate it so the QR code faces you", + "Use the left arm to grab the plastic smooth paymentsign, lift, and turn it QR code forward", + "Grab the yellow and white payment display using the left arm, then rotate it until the qrcode faces you.", + "Grab the yellow and white payment display using the left arm, lift, and rotate until QR code faces you.", + "Grab the smooth plastic paymentsign with QR code using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the paymentsign with QR code area, rotate, and face the QR code towards you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and adjust its QR code to face you.", + "Lift the white rectangular paymentsign with yellow details from the table and rotate it so the code faces you.", + "Catch the yellow and white payment display off the table and rotate its qrcode to you.", + "Lift the tabletop paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Slide the white stand sign off the table and turn it to face you.", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Use the left arm to pick the white stand sign and turn it towards you.", + "Catch the white paymentsign with raised base, pick it up, and rotate to show the QR code.", + "Pick the smooth plastic paymentsign with QR code up, rotate it, and ensure the QR code faces you.", + "Pick the white rectangular paymentsign with yellow details up and turn its QR code toward you using the left arm.", + "Use the left arm to lift the paymentsign with QR code area from the table and face the qrcode.", + "Grab the paymentsign with the left arm, then rotate it to face yourself.", + "Use the left arm to take the white paymentsign with raised base and turn it until the QR code faces you", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Find the yellow panel white paymentsign, grab it, and turn it towards yourself.", + "Take the plastic smooth paymentsign from the table, rotating it QR code toward you.", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Using the left arm, catch the yellow and white payment display and rotate it to face the QR code.", + "Grab the white stand sign, pick it up, and turn its qrcode toward you.", + "Lift the rectangular paymentsign with stand and rotate until its qrcode faces you.", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Catch the tabletop paymentsign, pick it up, and rotate to view the qrcode.", + "Catch the yellow panel white paymentsign with the left arm, then rotate it to make the QR code visible.", + "Grab the white rectangular paymentsign with yellow details, lift it from the table, and rotate it QR front", + "Pick the paymentsign with QR code area up, then rotate to make its qrcode visible.", + "Use the left arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Lift the yellow and white payment display from the table and turn it to face you.", + "Lift the smooth plastic paymentsign with QR code and rotate for its qrcode to face you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Locate the paymentsign with QR code area, pick it up, and adjust its angle.", + "Lift the rectangular paymentsign with stand from the table, turning it QR code forward.", + "Employ the left arm to seize the plastic smooth paymentsign, raise it, and rotate it QR-forward", + "Catch the paymentsign with QR code area, lift it, and rotate it QR code facing.", + "Catch and lift the yellow and white payment display, then turn it to show the QR code.", + "Use the left arm to grab the plastic smooth paymentsign and rotate QR code towards you.", + "Catch the sign with yellow payment section, lift, and rotate to align the qrcode to you.", + "Pick up the sign with yellow payment section and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the plastic smooth paymentsign and rotate the qrcode to face you.", + "Catch the smooth plastic paymentsign with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the yellow and white payment display and rotate it until the QR faces forward", + "Lift the rectangular paymentsign with stand and orient its QR code toward you with the left arm.", + "Pick up the smooth plastic paymentsign with QR code and rotate it so the QR code faces you", + "Use the left arm to grab the sign with yellow payment section, lift, and turn it QR code forward", + "Grab the white rectangular paymentsign with yellow details using the left arm, then rotate it until the qrcode faces you.", + "Grab the white paymentsign with raised base using the left arm, lift, and rotate until QR code faces you.", + "Grab the white rectangular paymentsign with yellow details using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the smooth plastic paymentsign with QR code, rotate, and face the QR code towards you.", + "Catch the white stand sign, lift it, and adjust its QR code to face you.", + "Lift the yellow and white payment display from the table and rotate it so the code faces you.", + "Catch the white paymentsign with raised base off the table and rotate its qrcode to you.", + "Lift the white paymentsign with raised base with the left arm, then rotate it to make the qrcode visible.", + "Slide the yellow panel white paymentsign off the table and turn it to face you.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and point its QR code toward you.", + "Lift the sign with yellow payment section from the surface and adjust its angle towards you", + "Use the left arm to pick the rectangular paymentsign with stand and turn it towards you.", + "Catch the rectangular paymentsign with stand, pick it up, and rotate to show the QR code.", + "Pick the white paymentsign with raised base up, rotate it, and ensure the QR code faces you.", + "Pick the sign with yellow payment section up and turn its QR code toward you using the left arm.", + "Use the left arm to lift the white stand sign from the table and face the qrcode.", + "Grab the white paymentsign with raised base with the left arm, then rotate it to face yourself.", + "Use the left arm to take the paymentsign and turn it until the QR code faces you", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Find the white stand sign, grab it, and turn it towards yourself.", + "Take the white paymentsign with raised base from the table, rotating it QR code toward you.", + "Take the yellow panel white paymentsign, raise it, and make the qrcode face you.", + "Take the sign with yellow payment section, lift it, and orient it so the QR faces you", + "Lift the white rectangular paymentsign with yellow details from the table and rotate it towards you", + "Using the left arm, catch the white rectangular paymentsign with yellow details and rotate it to face the QR code.", + "Grab the sign with yellow payment section, pick it up, and turn its qrcode toward you.", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Catch the white stand sign, pick it up, and rotate to view the qrcode.", + "Catch the white rectangular paymentsign with yellow details with the left arm, then rotate it to make the QR code visible.", + "Grab the yellow and white payment display, lift it from the table, and rotate it QR front", + "Pick the white stand sign up, then rotate to make its qrcode visible.", + "Use the left arm to lift the paymentsign with QR code area and rotate it QR code toward you.", + "Lift the sign with yellow payment section from the table and turn it to face you.", + "Lift the yellow and white payment display and rotate for its qrcode to face you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you" + ], + "unseen": [ + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode10.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..952ded5bb95c7ddea2d5ee8f67a07facbef4284f --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the sign with yellow payment section from the surface and adjust its angle towards you", + "Lift the smooth plastic paymentsign with QR code and rotate until its qrcode faces you.", + "Catch the white stand sign, pick it up, and rotate to view the qrcode.", + "Catch the yellow panel white paymentsign, raise it, and turn it so the QR code faces you", + "Locate the sign with yellow payment section, pick it up, and adjust its angle.", + "Catch and lift the white paymentsign with raised base, then turn it to show the QR code.", + "Take the smooth plastic paymentsign with QR code, lift it, and orient it so the QR faces you", + "Use the left arm to grab the sign with yellow payment section, lift, and turn it QR code forward", + "Pick up the rectangular paymentsign with stand and rotate it so the QR code faces you", + "Pick up the white paymentsign with raised base and adjust its position to face the qrcode towards you.", + "Lift the sign with yellow payment section from the table and rotate it so the code faces you.", + "Use the left arm to grab the yellow and white payment display and rotate QR code towards you.", + "Take the plastic smooth paymentsign from the table, rotating it QR code toward you.", + "Use the left arm to lift the white stand sign and rotate it QR code toward you.", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to take the plastic smooth paymentsign and turn it until the QR code faces you", + "Pick the white stand sign up, rotate it, and ensure the QR code faces you.", + "Find the rectangular paymentsign with stand, grab it, and turn it towards yourself.", + "Slide the yellow and white payment display off the table and turn it to face you.", + "Catch the sign with yellow payment section, pick it up, and rotate to show the QR code.", + "Catch the yellow panel white paymentsign, lift it, and rotate it QR code facing.", + "Catch the white paymentsign with raised base, lift it, and turn the qrcode towards you.", + "Take the sign with yellow payment section, raise it, and make the qrcode face you.", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the tabletop paymentsign and point its QR code toward you.", + "Using the left arm, catch the yellow and white payment display and rotate it to face the QR code.", + "Pick the sign with yellow payment section up, then rotate to make its qrcode visible.", + "Catch the smooth plastic paymentsign with QR code with the left arm, then rotate it to make the QR code visible.", + "Lift the rectangular paymentsign with stand and orient its QR code toward you with the left arm.", + "Use the left arm to grab the white paymentsign with raised base, rotate, and face the QR code towards you.", + "Grab the smooth plastic paymentsign with QR code using the left arm, then rotate the QR code to face forward.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Lift the yellow panel white paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Lift the yellow panel white paymentsign and rotate it until the QR code faces you.", + "Catch the paymentsign with QR code area, lift it, and adjust its QR code to face you.", + "Catch the plastic smooth paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the white stand sign and rotate it until the QR faces forward", + "Grab the tabletop paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Grab the white stand sign, lift it from the table, and rotate it QR front", + "Lift the rectangular paymentsign with stand from the table and rotate it towards you", + "Pick the paymentsign with QR code area up and turn its QR code toward you using the left arm.", + "Employ the left arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Lift the plastic smooth paymentsign from the table and turn it to face you.", + "Use the left arm to pick the paymentsign with QR code area and turn it towards you.", + "Catch the paymentsign with QR code area using the left arm, pick it up, and turn it to face the QR code.", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Grab the sign with yellow payment section with the left arm, then rotate it to face yourself.", + "Use the left arm to lift the tabletop paymentsign from the table and face the qrcode.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate the qrcode to face you.", + "Lift the rectangular paymentsign with stand from the surface and adjust its angle towards you", + "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to view the qrcode.", + "Catch the white stand sign, raise it, and turn it so the QR code faces you", + "Locate the sign with yellow payment section, pick it up, and adjust its angle.", + "Catch and lift the tabletop paymentsign, then turn it to show the QR code.", + "Take the white stand sign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the plastic smooth paymentsign, lift, and turn it QR code forward", + "Pick up the yellow panel white paymentsign and rotate it so the QR code faces you", + "Pick up the sign with yellow payment section and adjust its position to face the qrcode towards you.", + "Lift the rectangular paymentsign with stand from the table and rotate it so the code faces you.", + "Use the left arm to grab the plastic smooth paymentsign and rotate QR code towards you.", + "Take the yellow panel white paymentsign from the table, rotating it QR code toward you.", + "Use the left arm to lift the plastic smooth paymentsign and rotate it QR code toward you.", + "Catch the white paymentsign with raised base off the table and rotate its qrcode to you.", + "Use the left arm to take the white stand sign and turn it until the QR code faces you", + "Pick the yellow and white payment display up, rotate it, and ensure the QR code faces you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Slide the smooth plastic paymentsign with QR code off the table and turn it to face you.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to show the QR code.", + "Catch the yellow and white payment display, lift it, and rotate it QR code facing.", + "Catch the paymentsign with QR code area, lift it, and turn the qrcode towards you.", + "Take the yellow panel white paymentsign, raise it, and make the qrcode face you.", + "Grab the paymentsign with QR code area, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the sign with yellow payment section and point its QR code toward you.", + "Using the left arm, catch the paymentsign with QR code area and rotate it to face the QR code.", + "Pick the smooth plastic paymentsign with QR code up, then rotate to make its qrcode visible.", + "Catch the white stand sign with the left arm, then rotate it to make the QR code visible.", + "Lift the paymentsign with QR code area and orient its QR code toward you with the left arm.", + "Use the left arm to grab the sign with yellow payment section, rotate, and face the QR code towards you.", + "Grab the tabletop paymentsign using the left arm, then rotate the QR code to face forward.", + "Lift the white stand sign and rotate for its qrcode to face you.", + "Lift the white rectangular paymentsign with yellow details with the left arm, then rotate it to make the qrcode visible.", + "Lift the sign with yellow payment section and rotate it until the QR code faces you.", + "Catch the white stand sign, lift it, and adjust its QR code to face you.", + "Catch the white rectangular paymentsign with yellow details, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Grab the paymentsign with QR code area using the left arm, then rotate it until the qrcode faces you.", + "Grab the plastic smooth paymentsign, lift it from the table, and rotate it QR front", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Pick the white stand sign up and turn its QR code toward you using the left arm.", + "Employ the left arm to seize the rectangular paymentsign with stand, raise it, and rotate it QR-forward", + "Lift the white stand sign from the table and turn it to face you.", + "Use the left arm to pick the rectangular paymentsign with stand and turn it towards you.", + "Catch the paymentsign with QR code area using the left arm, pick it up, and turn it to face the QR code.", + "Lift the plastic smooth paymentsign from the table, turning it QR code forward.", + "Grab the plastic smooth paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Grab the smooth plastic paymentsign with QR code with the left arm, then rotate it to face yourself.", + "Use the left arm to lift the white rectangular paymentsign with yellow details from the table and face the qrcode.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate the qrcode to face you." + ], + "unseen": [ + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode11.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..a7f3305b0976b48987a27ed619849ccc2f8543a6 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the gray top with QR code with the left arm, then rotate it to face yourself.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Catch the triangular stand with QR code with the left arm, then rotate it to make the QR code visible.", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you.", + "Lift the green payment logo on gray top and rotate for its qrcode to face you.", + "Use the left arm to grab the payment sign with angled face and point its QR code toward you.", + "Slide the gray top with QR code off the table and turn it to face you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Use the left arm to pick the paymentsign and turn it towards you.", + "Pick up the small black stand for payments and adjust its position to face the qrcode towards you.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Lift the gray top with QR code from the table, turning it QR code forward.", + "Lift the green payment logo on gray top and rotate until its qrcode faces you.", + "Pick the green payment logo on gray top up, then rotate to make its qrcode visible.", + "Take the gray top with QR code, lift it, and orient it so the QR faces you", + "Lift the payment sign with angled face and rotate it until the QR code faces you.", + "Lift the payment sign with angled face and orient its QR code toward you with the left arm.", + "Grab the gray top with QR code using the left arm, then rotate the QR code to face forward.", + "Use the left arm to lift the small payment stand with black base from the table and face the qrcode.", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Lift the green payment logo on gray top from the table and turn it to face you.", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the payment sign with angled face, lift, and turn it QR code forward", + "Lift the black base with tilted gray panel with the left arm, then rotate it to make the qrcode visible.", + "Locate the green payment logo on gray top, pick it up, and adjust its angle.", + "Pick the black base with tilted gray panel up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the black base with tilted gray panel and rotate it until the QR faces forward", + "Lift the black base with tilted gray panel from the surface and adjust its angle towards you", + "Use the left arm to grab the green payment logo on gray top, rotate, and face the QR code towards you.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Catch the small payment stand with black base, lift it, and adjust its QR code to face you.", + "Use the left arm to take the payment sign with angled face and turn it until the QR code faces you", + "Catch the gray top with QR code, raise it, and turn it so the QR code faces you", + "Using the left arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Grab the black base with tilted gray panel, lift it from the table, and rotate it QR front", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Use the left arm to grab the gray top with QR code and rotate QR code towards you.", + "Use the left arm to lift the paymentsign and rotate it QR code toward you.", + "Find the small payment stand with black base, grab it, and turn it towards yourself.", + "Catch and lift the gray top with QR code, then turn it to show the QR code.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Employ the left arm to seize the payment sign with green logo, raise it, and rotate it QR-forward", + "Grab the gray top with QR code with the left arm, then rotate it to face yourself.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Catch the payment sign with green logo with the left arm, then rotate it to make the QR code visible.", + "Lift the gray top with QR code from the table and rotate it so the code faces you.", + "Lift the small black stand for payments and rotate for its qrcode to face you.", + "Use the left arm to grab the gray slanted panel with text and point its QR code toward you.", + "Slide the black base with tilted gray panel off the table and turn it to face you.", + "Take the slanted gray panel for QR code scan from the table, rotating it QR code toward you.", + "Catch the gray top with QR code, lift it, and turn the qrcode towards you.", + "Use the left arm to pick the triangular stand with QR code and turn it towards you.", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it towards you", + "Lift the gray slanted panel with text from the table, turning it QR code forward.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Take the payment sign with green logo, lift it, and orient it so the QR faces you", + "Lift the slanted gray panel for QR code scan and rotate it until the QR code faces you.", + "Lift the slanted gray panel for QR code scan and orient its QR code toward you with the left arm.", + "Grab the small black stand for payments using the left arm, then rotate the QR code to face forward.", + "Use the left arm to lift the payment sign with green logo from the table and face the qrcode.", + "Catch the triangular stand with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Lift the payment sign with green logo from the table and turn it to face you.", + "Pick the green payment logo on gray top up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Pick the small black stand for payments up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Lift the small payment stand with black base from the surface and adjust its angle towards you", + "Use the left arm to grab the payment sign with green logo, rotate, and face the QR code towards you.", + "Pick up the small payment stand with black base and rotate it so the QR code faces you", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Grab the small black stand for payments, pick it up, and turn its qrcode toward you.", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the triangular stand with QR code and rotate the qrcode to face you.", + "Catch the gray slanted panel with text off the table and rotate its qrcode to you.", + "Catch the gray top with QR code, lift it, and adjust its QR code to face you.", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Catch the green payment logo on gray top, raise it, and turn it so the QR code faces you", + "Using the left arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Catch the slanted gray panel for QR code scan, lift it, and rotate it QR code facing.", + "Use the left arm to grab the paymentsign and rotate QR code towards you.", + "Use the left arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Find the small payment stand with black base, grab it, and turn it towards yourself.", + "Catch and lift the small black stand for payments, then turn it to show the QR code.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Employ the left arm to seize the small payment stand with black base, raise it, and rotate it QR-forward" + ], + "unseen": [ + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode12.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..313bf395f449aeee284165154c346f3fb6d48df9 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the sign with yellow payment section, lift it, and orient it so the QR faces you", + "Pick up the white stand sign and rotate it so the QR code faces you", + "Using the right arm, catch the white stand sign and rotate it to face the QR code.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to show the QR code.", + "Slide the white paymentsign with raised base off the table and turn it to face you.", + "Lift the white rectangular paymentsign with yellow details and orient its QR code toward you with the right arm.", + "Use the right arm to lift the sign with yellow payment section and rotate it QR code toward you.", + "Catch the white stand sign with the right arm, then rotate it to make the QR code visible.", + "Grab the paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the rectangular paymentsign with stand from the table and turn it to face you.", + "Use the right arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Lift the smooth plastic paymentsign with QR code and rotate for its qrcode to face you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the yellow and white payment display and rotate it until the QR faces forward", + "Find the smooth plastic paymentsign with QR code, grab it, and turn it towards yourself.", + "Lift the smooth plastic paymentsign with QR code with the right arm, then rotate it to make the qrcode visible.", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Lift the paymentsign with QR code area and rotate it until the QR code faces you.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Catch the smooth plastic paymentsign with QR code off the table and rotate its qrcode to you.", + "Use the right arm to lift the white rectangular paymentsign with yellow details from the table and face the qrcode.", + "Use the right arm to grab the rectangular paymentsign with stand, rotate, and face the QR code towards you.", + "Use the right arm to grab the plastic smooth paymentsign and rotate the qrcode to face you.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the yellow and white payment display, lift it from the table, and rotate it QR front", + "Catch the yellow and white payment display, lift, and rotate to align the qrcode to you.", + "Locate the yellow and white payment display, pick it up, and adjust its angle.", + "Lift the white stand sign from the table, turning it QR code forward.", + "Take the plastic smooth paymentsign, raise it, and make the qrcode face you.", + "Employ the right arm to seize the sign with yellow payment section, raise it, and rotate it QR-forward", + "Grab the paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to pick the rectangular paymentsign with stand and turn it towards you.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Catch the tabletop paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Grab the smooth plastic paymentsign with QR code using the right arm, then rotate the QR code to face forward.", + "Lift the white paymentsign with raised base from the table and rotate it towards you", + "Use the right arm to grab the paymentsign, lift, and turn it QR code forward", + "Lift the paymentsign with QR code area and rotate until its qrcode faces you.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and point its QR code toward you.", + "Lift the white stand sign from the table and rotate it so the code faces you.", + "Use the right arm to take the plastic smooth paymentsign and turn it until the QR code faces you", + "Pick the sign with yellow payment section up, then rotate to make its qrcode visible.", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Grab the rectangular paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign with QR code area, pick it up, and turn its qrcode toward you.", + "Pick the white paymentsign with raised base up and turn its QR code toward you using the right arm.", + "Take the yellow panel white paymentsign from the table, rotating it QR code toward you.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Take the smooth plastic paymentsign with QR code, lift it, and orient it so the QR faces you", + "Pick up the plastic smooth paymentsign and rotate it so the QR code faces you", + "Using the right arm, catch the white paymentsign with raised base and rotate it to face the QR code.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Lift the smooth plastic paymentsign with QR code and orient its QR code toward you with the right arm.", + "Use the right arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Catch the white stand sign with the right arm, then rotate it to make the QR code visible.", + "Grab the yellow panel white paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the rectangular paymentsign with stand from the table and turn it to face you.", + "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate QR code towards you.", + "Lift the rectangular paymentsign with stand and rotate for its qrcode to face you.", + "Catch the white stand sign, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the plastic smooth paymentsign and rotate it until the QR faces forward", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Lift the white stand sign with the right arm, then rotate it to make the qrcode visible.", + "Catch the rectangular paymentsign with stand, lift it, and turn the qrcode towards you.", + "Pick up the smooth plastic paymentsign with QR code and adjust its position to face the qrcode towards you.", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Catch the white rectangular paymentsign with yellow details off the table and rotate its qrcode to you.", + "Use the right arm to lift the white rectangular paymentsign with yellow details from the table and face the qrcode.", + "Use the right arm to grab the white paymentsign with raised base, rotate, and face the QR code towards you.", + "Use the right arm to grab the rectangular paymentsign with stand and rotate the qrcode to face you.", + "Catch the sign with yellow payment section, pick it up, and rotate to view the qrcode.", + "Grab the white stand sign, lift it from the table, and rotate it QR front", + "Catch the plastic smooth paymentsign, lift, and rotate to align the qrcode to you.", + "Locate the white rectangular paymentsign with yellow details, pick it up, and adjust its angle.", + "Lift the white paymentsign with raised base from the table, turning it QR code forward.", + "Take the white stand sign, raise it, and make the qrcode face you.", + "Employ the right arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Grab the white paymentsign with raised base with the right arm, then rotate it to face yourself.", + "Use the right arm to pick the yellow and white payment display and turn it towards you.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Catch the rectangular paymentsign with stand using the right arm, pick it up, and turn it to face the QR code.", + "Grab the white paymentsign with raised base using the right arm, then rotate the QR code to face forward.", + "Lift the plastic smooth paymentsign from the table and rotate it towards you", + "Use the right arm to grab the white stand sign, lift, and turn it QR code forward", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and point its QR code toward you.", + "Lift the plastic smooth paymentsign from the table and rotate it so the code faces you.", + "Use the right arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Pick the rectangular paymentsign with stand up, then rotate to make its qrcode visible.", + "Pick the sign with yellow payment section up, rotate it, and ensure the QR code faces you.", + "Grab the white paymentsign with raised base using the right arm, then rotate it until the qrcode faces you.", + "Grab the yellow panel white paymentsign, pick it up, and turn its qrcode toward you.", + "Pick the yellow panel white paymentsign up and turn its QR code toward you using the right arm.", + "Take the white rectangular paymentsign with yellow details from the table, rotating it QR code toward you.", + "Catch and lift the white rectangular paymentsign with yellow details, then turn it to show the QR code.", + "Catch the white rectangular paymentsign with yellow details, lift it, and adjust its QR code to face you." + ], + "unseen": [ + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode13.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..0b3dca2304e3212ac11054bdfeef3f37d29e8272 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the smooth plastic paymentsign with QR code, raise it, and make the qrcode face you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to grab the rectangular paymentsign with stand and rotate the qrcode to face you.", + "Grab the white rectangular paymentsign with yellow details, lift it from the table, and rotate it QR front", + "Pick up the smooth plastic paymentsign with QR code and rotate it so the QR code faces you", + "Catch the white stand sign, lift, and rotate to align the qrcode to you.", + "Use the right arm to lift the paymentsign with QR code area and rotate it QR code toward you.", + "Take the rectangular paymentsign with stand from the table, rotating it QR code toward you.", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Use the right arm to lift the paymentsign from the table and face the qrcode.", + "Lift the paymentsign and orient its QR code toward you with the right arm.", + "Employ the right arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Lift the paymentsign with QR code area and rotate until its qrcode faces you.", + "Catch the paymentsign with QR code area, pick it up, and rotate to view the qrcode.", + "Lift the white stand sign with the right arm, then rotate it to make the qrcode visible.", + "Catch and lift the yellow panel white paymentsign, then turn it to show the QR code.", + "Grab the sign with yellow payment section using the right arm, then rotate the QR code to face forward.", + "Use the right arm to take the yellow panel white paymentsign and turn it until the QR code faces you", + "Catch the yellow panel white paymentsign with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the yellow panel white paymentsign and point its QR code toward you.", + "Catch the white paymentsign with raised base, raise it, and turn it so the QR code faces you", + "Lift the white paymentsign with raised base and rotate it until the QR code faces you.", + "Use the right arm to pick the sign with yellow payment section and turn it towards you.", + "Lift the yellow and white payment display and rotate for its qrcode to face you.", + "Using the right arm, catch the rectangular paymentsign with stand and rotate it to face the QR code.", + "Grab the plastic smooth paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the smooth plastic paymentsign with QR code, rotate, and face the QR code towards you.", + "Catch the rectangular paymentsign with stand, lift it, and adjust its QR code to face you.", + "Lift the paymentsign from the table and turn it to face you.", + "Locate the yellow and white payment display, pick it up, and adjust its angle.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Catch the white rectangular paymentsign with yellow details off the table and rotate its qrcode to you.", + "Pick the yellow and white payment display up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the rectangular paymentsign with stand and rotate QR code towards you.", + "Catch the plastic smooth paymentsign, lift it, and rotate it QR code facing.", + "Pick the smooth plastic paymentsign with QR code up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the white stand sign, lift, and turn it QR code forward", + "Lift the plastic smooth paymentsign from the table and rotate it towards you", + "Catch the white stand sign, pick it up, and rotate to show the QR code.", + "Pick the white paymentsign with raised base up, then rotate to make its qrcode visible.", + "Grab the white paymentsign with raised base, pick it up, and turn its qrcode toward you.", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Grab the paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Lift the tabletop paymentsign from the table and rotate it so the code faces you.", + "Grab the rectangular paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the rectangular paymentsign with stand and rotate it until the QR faces forward", + "Catch the rectangular paymentsign with stand using the right arm, pick it up, and turn it to face the QR code.", + "Pick up the yellow panel white paymentsign and adjust its position to face the qrcode towards you.", + "Take the tabletop paymentsign, raise it, and make the qrcode face you.", + "Find the plastic smooth paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to grab the sign with yellow payment section and rotate the qrcode to face you.", + "Grab the white paymentsign with raised base, lift it from the table, and rotate it QR front", + "Pick up the yellow and white payment display and rotate it so the QR code faces you", + "Catch the paymentsign with QR code area, lift, and rotate to align the qrcode to you.", + "Use the right arm to lift the rectangular paymentsign with stand and rotate it QR code toward you.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Catch the white stand sign, lift it, and turn the qrcode towards you.", + "Use the right arm to lift the smooth plastic paymentsign with QR code from the table and face the qrcode.", + "Lift the plastic smooth paymentsign and orient its QR code toward you with the right arm.", + "Employ the right arm to seize the yellow and white payment display, raise it, and rotate it QR-forward", + "Lift the smooth plastic paymentsign with QR code and rotate until its qrcode faces you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the rectangular paymentsign with stand with the right arm, then rotate it to make the qrcode visible.", + "Catch and lift the sign with yellow payment section, then turn it to show the QR code.", + "Grab the white stand sign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to take the white paymentsign with raised base and turn it until the QR code faces you", + "Catch the rectangular paymentsign with stand with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the rectangular paymentsign with stand and point its QR code toward you.", + "Catch the white paymentsign with raised base, raise it, and turn it so the QR code faces you", + "Lift the white paymentsign with raised base and rotate it until the QR code faces you.", + "Use the right arm to pick the white rectangular paymentsign with yellow details and turn it towards you.", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Using the right arm, catch the paymentsign and rotate it to face the QR code.", + "Grab the plastic smooth paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the yellow panel white paymentsign, rotate, and face the QR code towards you.", + "Catch the yellow and white payment display, lift it, and adjust its QR code to face you.", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Locate the rectangular paymentsign with stand, pick it up, and adjust its angle.", + "Lift the sign with yellow payment section from the table, turning it QR code forward.", + "Slide the paymentsign off the table and turn it to face you.", + "Catch the yellow panel white paymentsign off the table and rotate its qrcode to you.", + "Pick the white stand sign up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Catch the plastic smooth paymentsign, lift it, and rotate it QR code facing.", + "Pick the white paymentsign with raised base up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the sign with yellow payment section, lift, and turn it QR code forward", + "Lift the rectangular paymentsign with stand from the table and rotate it towards you", + "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.", + "Pick the smooth plastic paymentsign with QR code up, then rotate to make its qrcode visible.", + "Grab the paymentsign with QR code area, pick it up, and turn its qrcode toward you.", + "Take the white stand sign, lift it, and orient it so the QR faces you", + "Grab the paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the white paymentsign with raised base from the surface and adjust its angle towards you", + "Lift the sign with yellow payment section from the table and rotate it so the code faces you.", + "Grab the plastic smooth paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the white paymentsign with raised base and rotate it until the QR faces forward", + "Catch the yellow and white payment display using the right arm, pick it up, and turn it to face the QR code.", + "Pick up the rectangular paymentsign with stand and adjust its position to face the qrcode towards you." + ], + "unseen": [ + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode14.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..d2d1209c2f1f2ae536bdd39a52f13c4fec053002 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift the smooth surface paymentsign and rotate it QR code toward you.", + "Use the left arm to grab the paymentsign with angled black stand, lift, and turn it QR code forward", + "Grab the small glossy paymentsign, lift it from the table, and rotate it QR front", + "Catch the tabletop paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the rectangular plastic paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign for scanning QR codes using the left arm, then rotate it until the qrcode faces you.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Lift the paymentsign with glossy blue panel and rotate it until the QR code faces you.", + "Lift the blue and white paymentsign from the table and rotate it so the code faces you.", + "Pick up the paymentsign with printed QR codes and adjust its position to face the qrcode towards you.", + "Catch the small glossy paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to lift the blue and white rectangular paymentsign from the table and face the qrcode.", + "Using the left arm, catch the paymentsign with printed QR codes and rotate it to face the QR code.", + "Use the left arm to grab the rectangular plastic paymentsign with codes and rotate it until the QR faces forward", + "Catch the rectangular plastic paymentsign, raise it, and turn it so the QR code faces you", + "Find the rectangular plastic paymentsign, grab it, and turn it towards yourself.", + "Pick the smooth surface paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to pick the paymentsign with angled black stand and turn it towards you.", + "Lift the paymentsign for scanning QR codes from the surface and adjust its angle towards you", + "Use the left arm to grab the blue and white paymentsign, rotate, and face the QR code towards you.", + "Lift the paymentsign with angled black stand and orient its QR code toward you with the left arm.", + "Take the small glossy paymentsign, lift it, and orient it so the QR faces you", + "Lift the blue and white paymentsign and rotate until its qrcode faces you.", + "Grab the paymentsign for scanning QR codes using the left arm, then rotate the QR code to face forward.", + "Use the left arm to take the paymentsign for scanning QR codes and turn it until the QR code faces you", + "Slide the rectangular plastic paymentsign with codes off the table and turn it to face you.", + "Grab the paymentsign with glossy blue panel, pick it up, and turn its qrcode toward you.", + "Employ the left arm to seize the paymentsign with glossy blue panel, raise it, and rotate it QR-forward", + "Grab the paymentsign with glossy blue panel using the left arm, lift, and rotate until QR code faces you.", + "Lift the rectangular plastic paymentsign with codes from the table and turn it to face you.", + "Take the paymentsign for scanning QR codes from the table, rotating it QR code toward you.", + "Catch the paymentsign with glossy blue panel, lift it, and adjust its QR code to face you.", + "Catch the tabletop paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign for scanning QR codes with the left arm, then rotate it to make the qrcode visible.", + "Pick up the rectangular plastic paymentsign with codes and rotate it so the QR code faces you", + "Catch the paymentsign for scanning QR codes with the left arm, then rotate it to make the QR code visible.", + "Locate the blue and white rectangular paymentsign, pick it up, and adjust its angle.", + "Use the left arm to grab the small glossy paymentsign and rotate the qrcode to face you.", + "Catch and lift the rectangular plastic paymentsign with codes, then turn it to show the QR code.", + "Grab the small glossy paymentsign with the left arm, then rotate it to face yourself.", + "Catch the rectangular plastic paymentsign off the table and rotate its qrcode to you.", + "Take the paymentsign with printed QR codes, raise it, and make the qrcode face you.", + "Pick the rectangular plastic paymentsign up and turn its QR code toward you using the left arm.", + "Lift the smooth surface paymentsign from the table, turning it QR code forward.", + "Use the left arm to grab the paymentsign with glossy blue panel and point its QR code toward you.", + "Catch the paymentsign for scanning QR codes, lift it, and rotate it QR code facing.", + "Use the left arm to grab the paymentsign with angled black stand and rotate QR code towards you.", + "Catch the small paymentsign with stand, lift it, and turn the qrcode towards you.", + "Lift the paymentsign with angled black stand from the table and rotate it towards you", + "Pick the paymentsign for scanning QR codes up, then rotate to make its qrcode visible.", + "Use the left arm to lift the paymentsign with printed QR codes and rotate it QR code toward you.", + "Use the left arm to grab the paymentsign with angled black stand, lift, and turn it QR code forward", + "Grab the small glossy paymentsign, lift it from the table, and rotate it QR front", + "Catch the paymentsign for scanning QR codes, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign with printed QR codes, pick it up, and rotate to view the qrcode.", + "Grab the small paymentsign with stand using the left arm, then rotate it until the qrcode faces you.", + "Lift the smooth surface paymentsign and rotate for its qrcode to face you.", + "Lift the paymentsign with glossy blue panel and rotate it until the QR code faces you.", + "Lift the small glossy paymentsign from the table and rotate it so the code faces you.", + "Pick up the small paymentsign with stand and adjust its position to face the qrcode towards you.", + "Catch the paymentsign with printed QR codes, pick it up, and rotate to show the QR code.", + "Use the left arm to lift the rectangular plastic paymentsign from the table and face the qrcode.", + "Using the left arm, catch the small glossy paymentsign and rotate it to face the QR code.", + "Use the left arm to grab the paymentsign with angled black stand and rotate it until the QR faces forward", + "Catch the blue and white paymentsign, raise it, and turn it so the QR code faces you", + "Find the small glossy paymentsign, grab it, and turn it towards yourself.", + "Pick the paymentsign with printed QR codes up, rotate it, and ensure the QR code faces you.", + "Use the left arm to pick the rectangular plastic paymentsign and turn it towards you.", + "Lift the smooth surface paymentsign from the surface and adjust its angle towards you", + "Use the left arm to grab the paymentsign with glossy blue panel, rotate, and face the QR code towards you.", + "Lift the paymentsign with printed QR codes and orient its QR code toward you with the left arm.", + "Take the small paymentsign with stand, lift it, and orient it so the QR faces you", + "Lift the small paymentsign with stand and rotate until its qrcode faces you.", + "Grab the rectangular plastic paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to take the blue and white paymentsign and turn it until the QR code faces you", + "Slide the paymentsign with angled black stand off the table and turn it to face you.", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Employ the left arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Grab the rectangular plastic paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Lift the blue and white paymentsign from the table and turn it to face you.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Catch the small glossy paymentsign, lift it, and adjust its QR code to face you.", + "Catch the tabletop paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Lift the blue and white paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Pick up the blue and white rectangular paymentsign and rotate it so the QR code faces you", + "Catch the tabletop paymentsign with the left arm, then rotate it to make the QR code visible.", + "Locate the small paymentsign with stand, pick it up, and adjust its angle.", + "Use the left arm to grab the rectangular plastic paymentsign and rotate the qrcode to face you.", + "Catch and lift the paymentsign with printed QR codes, then turn it to show the QR code.", + "Grab the small paymentsign with stand with the left arm, then rotate it to face yourself.", + "Catch the paymentsign for scanning QR codes off the table and rotate its qrcode to you.", + "Take the paymentsign for scanning QR codes, raise it, and make the qrcode face you.", + "Pick the small paymentsign with stand up and turn its QR code toward you using the left arm.", + "Lift the rectangular plastic paymentsign with codes from the table, turning it QR code forward.", + "Use the left arm to grab the tabletop paymentsign and point its QR code toward you.", + "Catch the rectangular plastic paymentsign, lift it, and rotate it QR code facing.", + "Use the left arm to grab the paymentsign for scanning QR codes and rotate QR code towards you.", + "Catch the smooth surface paymentsign, lift it, and turn the qrcode towards you.", + "Lift the blue and white rectangular paymentsign from the table and rotate it towards you", + "Pick the blue and white paymentsign up, then rotate to make its qrcode visible." + ], + "unseen": [ + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand on the table and pick it up." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode15.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..6da66ebe9cadcf616b46f48b10597cc5eb4e9e37 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the paymentsign resting on angled base from the table, turning it QR code forward.", + "Using the right arm, catch the stand-up paymentsign with rectangular top and rotate it to face the QR code.", + "Lift the paymentsign resting on angled base with the right arm, then rotate it to make the qrcode visible.", + "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.", + "Lift the QR code paymentsign and orient its QR code toward you with the right arm.", + "Use the right arm to take the paymentsign resting on angled base and turn it until the QR code faces you", + "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.", + "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.", + "Grab the beige paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.", + "Use the right arm to grab the QR code paymentsign and rotate it until the QR faces forward", + "Pick the rectangular paymentsign with colorful top up and turn its QR code toward you using the right arm.", + "Catch the stand-up paymentsign with rectangular top with the right arm, then rotate it to make the QR code visible.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Lift the compact paymentsign for scanning payments from the table and turn it to face you.", + "Lift the compact paymentsign for scanning payments and rotate for its qrcode to face you.", + "Use the right arm to grab the paymentsign with blue and white text and point its QR code toward you.", + "Employ the right arm to seize the paymentsign with blue and white text, raise it, and rotate it QR-forward", + "Use the right arm to lift the compact paymentsign for scanning payments and rotate it QR code toward you.", + "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.", + "Catch the rectangular paymentsign with colorful top, lift it, and rotate it QR code facing.", + "Pick the rectangular paymentsign with colorful top up, then rotate to make its qrcode visible.", + "Use the right arm to lift the rectangular paymentsign with colorful top from the table and face the qrcode.", + "Lift the smooth beige paymentsign from the surface and adjust its angle towards you", + "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Find the paymentsign with blue and white text, grab it, and turn it towards yourself.", + "Grab the smooth beige paymentsign with the right arm, then rotate it to face yourself.", + "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Grab the paymentsign with tilted rectangular panel, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Grab the QR code paymentsign using the right arm, then rotate the QR code to face forward.", + "Grab the QR code paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, rotate, and face the QR code towards you.", + "Use the right arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward", + "Locate the paymentsign with blue and white text, pick it up, and adjust its angle.", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Catch the paymentsign with tilted rectangular panel using the right arm, pick it up, and turn it to face the QR code.", + "Lift the beige paymentsign from the table and rotate it so the code faces you.", + "Pick up the paymentsign showing QR code label and adjust its position to face the qrcode towards you.", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Catch the stand-up paymentsign with rectangular top, lift it, and turn the qrcode towards you.", + "Take the smooth beige paymentsign from the table, rotating it QR code toward you.", + "Use the right arm to pick the paymentsign with blue and white text and turn it towards you.", + "Catch the paymentsign showing QR code label, raise it, and turn it so the QR code faces you", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.", + "Using the right arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Lift the rectangular paymentsign with colorful top with the right arm, then rotate it to make the qrcode visible.", + "Catch the beige paymentsign, lift it, and adjust its QR code to face you.", + "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the right arm.", + "Use the right arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.", + "Grab the QR code paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Use the right arm to grab the smooth beige paymentsign and rotate it until the QR faces forward", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the right arm.", + "Catch the paymentsign resting on angled base with the right arm, then rotate it to make the QR code visible.", + "Lift the compact paymentsign for scanning payments from the table and rotate it towards you", + "Lift the stand-up paymentsign with rectangular top from the table and turn it to face you.", + "Lift the beige paymentsign with printed details and rotate for its qrcode to face you.", + "Use the right arm to grab the paymentsign resting on angled base and point its QR code toward you.", + "Employ the right arm to seize the paymentsign with tilted rectangular panel, raise it, and rotate it QR-forward", + "Use the right arm to lift the small paymentsign for mobile payments and rotate it QR code toward you.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.", + "Pick the small paymentsign for mobile payments up, then rotate to make its qrcode visible.", + "Use the right arm to lift the paymentsign resting on angled base from the table and face the qrcode.", + "Lift the beige paymentsign from the surface and adjust its angle towards you", + "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front", + "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Grab the smooth beige paymentsign with the right arm, then rotate it to face yourself.", + "Catch the QR code paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the paymentsign resting on angled base and rotate the qrcode to face you.", + "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the beige paymentsign and rotate QR code towards you.", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to show the QR code.", + "Grab the beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Grab the paymentsign with tilted rectangular panel using the right arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward", + "Locate the smooth beige paymentsign, pick it up, and adjust its angle.", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Catch the paymentsign with tilted rectangular panel using the right arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Slide the paymentsign showing QR code label off the table and turn it to face you.", + "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you", + "Catch the stand-up paymentsign with rectangular top, lift it, and turn the qrcode towards you.", + "Take the small paymentsign for mobile payments from the table, rotating it QR code toward you.", + "Use the right arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Catch the small paymentsign for mobile payments, raise it, and turn it so the QR code faces you", + "Catch and lift the stand-up paymentsign with rectangular top, then turn it to show the QR code." + ], + "unseen": [ + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode16.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..b7a3916cd2c56fc669d3b46947dc91ba9c552835 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the paymentsign with angled black stand from the table, rotating it QR code toward you.", + "Grab the paymentsign with printed QR codes, lift it from the table, and rotate it QR front", + "Take the blue and white paymentsign, raise it, and make the qrcode face you.", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the rectangular plastic paymentsign, rotate, and face the QR code towards you.", + "Use the left arm to grab the blue and white rectangular paymentsign and point its QR code toward you.", + "Catch the small paymentsign with stand with the left arm, then rotate it to make the QR code visible.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Lift the paymentsign with printed QR codes from the table and rotate it so the code faces you.", + "Grab the small paymentsign with stand with the left arm, then rotate it to face yourself.", + "Using the left arm, catch the blue and white paymentsign and rotate it to face the QR code.", + "Find the paymentsign with glossy blue panel, grab it, and turn it towards yourself.", + "Pick up the paymentsign with glossy blue panel and rotate it so the QR code faces you", + "Lift the small glossy paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to lift the rectangular plastic paymentsign from the table and face the qrcode.", + "Catch the rectangular plastic paymentsign with codes, raise it, and turn it so the QR code faces you", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Grab the rectangular plastic paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the tabletop paymentsign from the table and turn it to face you.", + "Use the left arm to pick the paymentsign with glossy blue panel and turn it towards you.", + "Catch and lift the small paymentsign with stand, then turn it to show the QR code.", + "Lift the rectangular plastic paymentsign with codes and rotate until its qrcode faces you.", + "Catch the small glossy paymentsign, lift, and rotate to align the qrcode to you.", + "Pick up the small glossy paymentsign and adjust its position to face the qrcode towards you.", + "Lift the blue and white paymentsign from the surface and adjust its angle towards you", + "Catch the rectangular plastic paymentsign, lift it, and adjust its QR code to face you.", + "Use the left arm to take the blue and white rectangular paymentsign and turn it until the QR code faces you", + "Use the left arm to grab the rectangular plastic paymentsign, lift, and turn it QR code forward", + "Grab the paymentsign with printed QR codes using the left arm, then rotate it until the qrcode faces you.", + "Take the blue and white rectangular paymentsign, lift it, and orient it so the QR faces you", + "Catch the paymentsign with angled black stand, lift it, and rotate it QR code facing.", + "Use the left arm to grab the tabletop paymentsign and rotate QR code towards you.", + "Use the left arm to lift the paymentsign with angled black stand and rotate it QR code toward you.", + "Lift the paymentsign with printed QR codes from the table and rotate it towards you", + "Lift the paymentsign with printed QR codes from the table, turning it QR code forward.", + "Use the left arm to grab the smooth surface paymentsign and rotate the qrcode to face you.", + "Catch the blue and white rectangular paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Pick the blue and white rectangular paymentsign up and turn its QR code toward you using the left arm.", + "Slide the paymentsign for scanning QR codes off the table and turn it to face you.", + "Catch the paymentsign with glossy blue panel off the table and rotate its qrcode to you.", + "Grab the rectangular plastic paymentsign using the left arm, then rotate the QR code to face forward.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign for scanning QR codes and rotate it until the QR code faces you.", + "Catch the paymentsign with angled black stand, lift it, and turn the qrcode towards you.", + "Pick the paymentsign with printed QR codes up, then rotate to make its qrcode visible.", + "Lift the tabletop paymentsign and orient its QR code toward you with the left arm.", + "Grab the smooth surface paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Locate the paymentsign with glossy blue panel, pick it up, and adjust its angle.", + "Employ the left arm to seize the blue and white paymentsign, raise it, and rotate it QR-forward", + "Take the rectangular plastic paymentsign with codes from the table, rotating it QR code toward you.", + "Grab the paymentsign with printed QR codes, lift it from the table, and rotate it QR front", + "Take the paymentsign for scanning QR codes, raise it, and make the qrcode face you.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the smooth surface paymentsign, rotate, and face the QR code towards you.", + "Use the left arm to grab the small glossy paymentsign and point its QR code toward you.", + "Catch the paymentsign for scanning QR codes with the left arm, then rotate it to make the QR code visible.", + "Lift the paymentsign with angled black stand and rotate for its qrcode to face you.", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it so the code faces you.", + "Grab the tabletop paymentsign with the left arm, then rotate it to face yourself.", + "Using the left arm, catch the paymentsign with glossy blue panel and rotate it to face the QR code.", + "Find the rectangular plastic paymentsign with codes, grab it, and turn it towards yourself.", + "Pick up the rectangular plastic paymentsign and rotate it so the QR code faces you", + "Lift the paymentsign with angled black stand with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to lift the small glossy paymentsign from the table and face the qrcode.", + "Catch the small glossy paymentsign, raise it, and turn it so the QR code faces you", + "Pick the paymentsign with glossy blue panel up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the paymentsign with printed QR codes and rotate it until the QR faces forward", + "Grab the paymentsign with angled black stand, pick it up, and turn its qrcode toward you.", + "Lift the rectangular plastic paymentsign from the table and turn it to face you.", + "Use the left arm to pick the smooth surface paymentsign and turn it towards you.", + "Catch and lift the blue and white paymentsign, then turn it to show the QR code.", + "Lift the blue and white paymentsign and rotate until its qrcode faces you.", + "Catch the paymentsign with angled black stand, lift, and rotate to align the qrcode to you.", + "Pick up the paymentsign with glossy blue panel and adjust its position to face the qrcode towards you.", + "Lift the blue and white rectangular paymentsign from the surface and adjust its angle towards you", + "Catch the small paymentsign with stand, lift it, and adjust its QR code to face you.", + "Use the left arm to take the small paymentsign with stand and turn it until the QR code faces you", + "Use the left arm to grab the small glossy paymentsign, lift, and turn it QR code forward", + "Grab the small paymentsign with stand using the left arm, then rotate it until the qrcode faces you.", + "Take the paymentsign for scanning QR codes, lift it, and orient it so the QR faces you", + "Catch the blue and white paymentsign, lift it, and rotate it QR code facing.", + "Use the left arm to grab the blue and white paymentsign and rotate QR code towards you.", + "Use the left arm to lift the rectangular plastic paymentsign with codes and rotate it QR code toward you.", + "Lift the smooth surface paymentsign from the table and rotate it towards you", + "Lift the paymentsign for scanning QR codes from the table, turning it QR code forward.", + "Use the left arm to grab the blue and white rectangular paymentsign and rotate the qrcode to face you.", + "Catch the blue and white rectangular paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Pick the smooth surface paymentsign up and turn its QR code toward you using the left arm.", + "Slide the paymentsign with glossy blue panel off the table and turn it to face you.", + "Catch the blue and white rectangular paymentsign off the table and rotate its qrcode to you.", + "Grab the paymentsign with angled black stand using the left arm, then rotate the QR code to face forward.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign with angled black stand and rotate it until the QR code faces you.", + "Catch the paymentsign with glossy blue panel, lift it, and turn the qrcode towards you.", + "Pick the rectangular plastic paymentsign up, then rotate to make its qrcode visible.", + "Lift the small glossy paymentsign and orient its QR code toward you with the left arm.", + "Grab the tabletop paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Employ the left arm to seize the rectangular plastic paymentsign, raise it, and rotate it QR-forward" + ], + "unseen": [ + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode17.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..4640b3c605ae4578aa6082c6ca9f8d0b4a99b6b9 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the beige paymentsign with printed details, pick it up, and turn its qrcode toward you.", + "Slide the smooth beige paymentsign off the table and turn it to face you.", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Lift the QR code paymentsign from the table, turning it QR code forward.", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Use the right arm to take the QR code paymentsign and turn it until the QR code faces you", + "Use the right arm to grab the beige paymentsign with printed details and point its QR code toward you.", + "Grab the rectangular paymentsign with colorful top using the right arm, lift, and rotate until QR code faces you.", + "Grab the paymentsign showing QR code label, lift it from the table, and rotate it QR front", + "Use the right arm to lift the compact paymentsign for scanning payments and rotate it QR code toward you.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.", + "Grab the paymentsign resting on angled base using the right arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.", + "Catch the QR code paymentsign with the right arm, then rotate it to make the QR code visible.", + "Lift the smooth beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the beige paymentsign with printed details using the right arm, pick it up, and turn it to face the QR code.", + "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to pick the paymentsign with blue and white text and turn it towards you.", + "Pick the beige paymentsign with printed details up, then rotate to make its qrcode visible.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Lift the QR code paymentsign from the surface and adjust its angle towards you", + "Take the paymentsign with tilted rectangular panel, lift it, and orient it so the QR faces you", + "Lift the beige paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Catch the paymentsign with blue and white text, pick it up, and rotate to show the QR code.", + "Pick up the rectangular paymentsign with colorful top and adjust its position to face the qrcode towards you.", + "Lift the paymentsign showing QR code label from the table and turn it to face you.", + "Using the right arm, catch the stand-up paymentsign with rectangular top and rotate it to face the QR code.", + "Take the small paymentsign for mobile payments from the table, rotating it QR code toward you.", + "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you", + "Employ the right arm to seize the rectangular paymentsign with colorful top, raise it, and rotate it QR-forward", + "Grab the paymentsign with blue and white text with the right arm, then rotate it to face yourself.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Catch the compact paymentsign for scanning payments, lift it, and adjust its QR code to face you.", + "Lift the QR code paymentsign from the table and rotate it towards you", + "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the right arm.", + "Lift the beige paymentsign with printed details and rotate until its qrcode faces you.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate QR code towards you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Locate the stand-up paymentsign with rectangular top, pick it up, and adjust its angle.", + "Use the right arm to grab the paymentsign showing QR code label, rotate, and face the QR code towards you.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate it until the QR faces forward", + "Catch the beige paymentsign with printed details, raise it, and turn it so the QR code faces you", + "Find the beige paymentsign with printed details, grab it, and turn it towards yourself.", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Use the right arm to grab the QR code paymentsign and rotate the qrcode to face you.", + "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.", + "Use the right arm to lift the rectangular paymentsign with colorful top from the table and face the qrcode.", + "Pick the paymentsign resting on angled base up and turn its QR code toward you using the right arm.", + "Grab the QR code paymentsign using the right arm, then rotate the QR code to face forward.", + "Grab the paymentsign with tilted rectangular panel, pick it up, and turn its qrcode toward you.", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Lift the QR code paymentsign from the table, turning it QR code forward.", + "Take the QR code paymentsign, raise it, and make the qrcode face you.", + "Use the right arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Use the right arm to grab the beige paymentsign with printed details and point its QR code toward you.", + "Grab the small paymentsign for mobile payments using the right arm, lift, and rotate until QR code faces you.", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Use the right arm to lift the paymentsign resting on angled base and rotate it QR code toward you.", + "Lift the beige paymentsign from the table and rotate it so the code faces you.", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign with blue and white text and rotate it until the QR code faces you.", + "Catch the stand-up paymentsign with rectangular top with the right arm, then rotate it to make the QR code visible.", + "Lift the beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the small paymentsign for mobile payments using the right arm, pick it up, and turn it to face the QR code.", + "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.", + "Use the right arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Pick the beige paymentsign with printed details up, then rotate to make its qrcode visible.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign with blue and white text from the surface and adjust its angle towards you", + "Take the paymentsign resting on angled base, lift it, and orient it so the QR faces you", + "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.", + "Use the right arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Pick up the compact paymentsign for scanning payments and adjust its position to face the qrcode towards you.", + "Lift the stand-up paymentsign with rectangular top from the table and turn it to face you.", + "Using the right arm, catch the paymentsign with blue and white text and rotate it to face the QR code.", + "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.", + "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you", + "Employ the right arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Grab the small paymentsign for mobile payments with the right arm, then rotate it to face yourself.", + "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Lift the smooth beige paymentsign and orient its QR code toward you with the right arm.", + "Lift the rectangular paymentsign with colorful top and rotate until its qrcode faces you.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Catch the paymentsign showing QR code label, pick it up, and rotate to view the qrcode.", + "Locate the rectangular paymentsign with colorful top, pick it up, and adjust its angle.", + "Use the right arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Use the right arm to grab the smooth beige paymentsign and rotate it until the QR faces forward", + "Catch the small paymentsign for mobile payments, raise it, and turn it so the QR code faces you", + "Find the QR code paymentsign, grab it, and turn it towards yourself.", + "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.", + "Use the right arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.", + "Use the right arm to lift the beige paymentsign from the table and face the qrcode.", + "Pick the stand-up paymentsign with rectangular top up and turn its QR code toward you using the right arm.", + "Grab the smooth beige paymentsign using the right arm, then rotate the QR code to face forward." + ], + "unseen": [ + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode18.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..02ba84a4e701deea5299915afd9b3d77104a3040 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the smooth plastic paymentsign with QR code and turn it towards you.", + "Lift the paymentsign with QR code area from the table, turning it QR code forward.", + "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the white paymentsign with raised base, rotate, and face the QR code towards you.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Pick the yellow and white payment display up, then rotate to make its qrcode visible.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate it until the QR faces forward", + "Pick the smooth plastic paymentsign with QR code up and turn its QR code toward you using the right arm.", + "Lift the plastic smooth paymentsign and rotate it until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it so the QR code faces you", + "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.", + "Use the right arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with QR code area from the table and rotate it towards you", + "Employ the right arm to seize the plastic smooth paymentsign, raise it, and rotate it QR-forward", + "Lift the sign with yellow payment section and orient its QR code toward you with the right arm.", + "Grab the plastic smooth paymentsign with the right arm, then rotate it to face yourself.", + "Catch the smooth plastic paymentsign with QR code, lift, and rotate to align the qrcode to you.", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Grab the yellow and white payment display using the right arm, lift, and rotate until QR code faces you.", + "Catch the plastic smooth paymentsign with the right arm, then rotate it to make the QR code visible.", + "Grab the paymentsign with QR code area using the right arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign with QR code area using the right arm, then rotate the QR code to face forward.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate QR code towards you.", + "Catch the yellow panel white paymentsign, lift it, and turn the qrcode towards you.", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Grab the plastic smooth paymentsign, lift it from the table, and rotate it QR front", + "Catch the paymentsign with QR code area, raise it, and turn it so the QR code faces you", + "Slide the yellow and white payment display off the table and turn it to face you.", + "Using the right arm, catch the tabletop paymentsign and rotate it to face the QR code.", + "Use the right arm to grab the yellow and white payment display and point its QR code toward you.", + "Find the plastic smooth paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to lift the paymentsign with QR code area from the table and face the qrcode.", + "Catch and lift the plastic smooth paymentsign, then turn it to show the QR code.", + "Use the right arm to lift the yellow and white payment display and rotate it QR code toward you.", + "Lift the paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate the qrcode to face you.", + "Lift the white stand sign from the table and rotate it so the code faces you.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Use the right arm to grab the rectangular paymentsign with stand, lift, and turn it QR code forward", + "Pick the plastic smooth paymentsign up, rotate it, and ensure the QR code faces you.", + "Take the white paymentsign with raised base, raise it, and make the qrcode face you.", + "Catch the white stand sign, lift it, and rotate it QR code facing.", + "Lift the white stand sign from the surface and adjust its angle towards you", + "Use the right arm to pick the tabletop paymentsign and turn it towards you.", + "Lift the paymentsign with QR code area from the table, turning it QR code forward.", + "Catch the white paymentsign with raised base using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the white stand sign, rotate, and face the QR code towards you.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to view the qrcode.", + "Pick the white paymentsign with raised base up, then rotate to make its qrcode visible.", + "Catch the plastic smooth paymentsign, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the plastic smooth paymentsign and rotate it until the QR faces forward", + "Pick the yellow and white payment display up and turn its QR code toward you using the right arm.", + "Lift the white rectangular paymentsign with yellow details and rotate it until the QR code faces you.", + "Pick up the white stand sign and rotate it so the QR code faces you", + "Lift the paymentsign with QR code area and rotate until its qrcode faces you.", + "Use the right arm to take the paymentsign with QR code area and turn it until the QR code faces you", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with QR code area from the table and rotate it towards you", + "Employ the right arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Lift the sign with yellow payment section and orient its QR code toward you with the right arm.", + "Grab the rectangular paymentsign with stand with the right arm, then rotate it to face yourself.", + "Catch the yellow and white payment display, lift, and rotate to align the qrcode to you.", + "Take the white paymentsign with raised base, lift it, and orient it so the QR faces you", + "Grab the plastic smooth paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the white rectangular paymentsign with yellow details with the right arm, then rotate it to make the QR code visible.", + "Grab the smooth plastic paymentsign with QR code using the right arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign using the right arm, then rotate the QR code to face forward.", + "Lift the sign with yellow payment section and rotate for its qrcode to face you.", + "Use the right arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Catch the rectangular paymentsign with stand, lift it, and turn the qrcode towards you.", + "Pick up the smooth plastic paymentsign with QR code and adjust its position to face the qrcode towards you.", + "Locate the paymentsign with QR code area, pick it up, and adjust its angle.", + "Grab the white paymentsign with raised base, lift it from the table, and rotate it QR front", + "Catch the paymentsign with QR code area, raise it, and turn it so the QR code faces you", + "Slide the white rectangular paymentsign with yellow details off the table and turn it to face you.", + "Using the right arm, catch the yellow panel white paymentsign and rotate it to face the QR code.", + "Use the right arm to grab the paymentsign with QR code area and point its QR code toward you.", + "Find the yellow panel white paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to lift the yellow panel white paymentsign from the table and face the qrcode.", + "Catch and lift the paymentsign with QR code area, then turn it to show the QR code.", + "Use the right arm to lift the yellow panel white paymentsign and rotate it QR code toward you.", + "Lift the white paymentsign with raised base with the right arm, then rotate it to make the qrcode visible.", + "Grab the smooth plastic paymentsign with QR code, pick it up, and turn its qrcode toward you.", + "Catch the rectangular paymentsign with stand off the table and rotate its qrcode to you.", + "Use the right arm to grab the paymentsign and rotate the qrcode to face you.", + "Lift the yellow panel white paymentsign from the table and rotate it so the code faces you.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Lift the sign with yellow payment section from the table and turn it to face you.", + "Use the right arm to grab the paymentsign, lift, and turn it QR code forward", + "Pick the sign with yellow payment section up, rotate it, and ensure the QR code faces you.", + "Take the tabletop paymentsign, raise it, and make the qrcode face you.", + "Catch the tabletop paymentsign, lift it, and rotate it QR code facing.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you" + ], + "unseen": [ + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode19.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..b7da5e53314792a0410c1cd6770749b5d356b372 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the gray slanted panel with text and rotate QR code towards you.", + "Pick the triangular stand with QR code up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the slanted gray panel for QR code scan, lift, and turn it QR code forward", + "Slide the small payment stand with black base off the table and turn it to face you.", + "Using the left arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Pick up the green payment logo on gray top and rotate it so the QR code faces you", + "Take the payment sign with green logo, lift it, and orient it so the QR faces you", + "Catch the tabletop-sized payment sign, lift it, and rotate it QR code facing.", + "Lift the gray slanted panel with text and orient its QR code toward you with the left arm.", + "Catch the green payment logo on gray top off the table and rotate its qrcode to you.", + "Grab the gray top with QR code with the left arm, then rotate it to face yourself.", + "Employ the left arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Use the left arm to grab the black base with tilted gray panel, rotate, and face the QR code towards you.", + "Grab the small black stand for payments, pick it up, and turn its qrcode toward you.", + "Grab the small black stand for payments using the left arm, then rotate the QR code to face forward.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Grab the green payment logo on gray top using the left arm, then rotate it until the qrcode faces you.", + "Catch the gray slanted panel with text, lift, and rotate to align the qrcode to you.", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Catch the payment sign with green logo using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Find the payment sign with green logo, grab it, and turn it towards yourself.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Lift the gray top with QR code with the left arm, then rotate it to make the qrcode visible.", + "Lift the black base with tilted gray panel from the table and rotate it towards you", + "Use the left arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.", + "Take the tabletop-sized payment sign, raise it, and make the qrcode face you.", + "Lift the triangular stand with QR code from the table and turn it to face you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Lift the small black stand for payments and rotate it until the QR code faces you.", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Use the left arm to grab the black base with tilted gray panel and rotate it until the QR faces forward", + "Use the left arm to pick the slanted gray panel for QR code scan and turn it towards you.", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.", + "Catch and lift the small black stand for payments, then turn it to show the QR code.", + "Use the left arm to lift the paymentsign from the table and face the qrcode.", + "Grab the triangular stand with QR code using the left arm, lift, and rotate until QR code faces you.", + "Lift the small black stand for payments from the table, turning it QR code forward.", + "Catch the tabletop-sized payment sign with the left arm, then rotate it to make the QR code visible.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Lift the payment sign with green logo from the surface and adjust its angle towards you", + "Lift the gray slanted panel with text and rotate for its qrcode to face you.", + "Use the left arm to grab the black base with tilted gray panel and rotate QR code towards you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the payment sign with green logo, lift, and turn it QR code forward", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Using the left arm, catch the payment sign with green logo and rotate it to face the QR code.", + "Pick up the slanted gray panel for QR code scan and rotate it so the QR code faces you", + "Take the payment sign with green logo, lift it, and orient it so the QR faces you", + "Catch the payment sign with green logo, lift it, and rotate it QR code facing.", + "Lift the slanted gray panel for QR code scan and orient its QR code toward you with the left arm.", + "Catch the gray top with QR code off the table and rotate its qrcode to you.", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Employ the left arm to seize the payment sign with green logo, raise it, and rotate it QR-forward", + "Use the left arm to grab the green payment logo on gray top, rotate, and face the QR code towards you.", + "Grab the payment sign with angled face, pick it up, and turn its qrcode toward you.", + "Grab the green payment logo on gray top using the left arm, then rotate the QR code to face forward.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Grab the triangular stand with QR code using the left arm, then rotate it until the qrcode faces you.", + "Catch the black base with tilted gray panel, lift, and rotate to align the qrcode to you.", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Catch the slanted gray panel for QR code scan using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to lift the black base with tilted gray panel and rotate it QR code toward you.", + "Catch the black base with tilted gray panel, pick it up, and rotate to view the qrcode.", + "Find the black base with tilted gray panel, grab it, and turn it towards yourself.", + "Grab the gray slanted panel with text, lift it from the table, and rotate it QR front", + "Lift the payment sign with green logo with the left arm, then rotate it to make the qrcode visible.", + "Lift the tabletop-sized payment sign from the table and rotate it towards you", + "Use the left arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Take the triangular stand with QR code, raise it, and make the qrcode face you.", + "Lift the black base with tilted gray panel from the table and turn it to face you.", + "Catch the gray slanted panel with text, raise it, and turn it so the QR code faces you", + "Catch the gray top with QR code, lift it, and turn the qrcode towards you.", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.", + "Pick the green payment logo on gray top up, then rotate to make its qrcode visible.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the payment sign with angled face and point its QR code toward you.", + "Use the left arm to take the tabletop-sized payment sign and turn it until the QR code faces you", + "Use the left arm to grab the gray slanted panel with text and rotate it until the QR faces forward", + "Use the left arm to pick the triangular stand with QR code and turn it towards you.", + "Catch the gray slanted panel with text, pick it up, and rotate to show the QR code.", + "Catch and lift the tabletop-sized payment sign, then turn it to show the QR code.", + "Use the left arm to lift the small payment stand with black base from the table and face the qrcode.", + "Grab the triangular stand with QR code using the left arm, lift, and rotate until QR code faces you.", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Catch the triangular stand with QR code with the left arm, then rotate it to make the QR code visible.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Lift the green payment logo on gray top from the surface and adjust its angle towards you", + "Lift the gray top with QR code and rotate for its qrcode to face you." + ], + "unseen": [ + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode2.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..6bcfe8d84e771e7f977b2676820dd6645a3bfdd9 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth plastic paymentsign with QR code and orient its QR code toward you with the left arm.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Lift the yellow panel white paymentsign from the surface and adjust its angle towards you", + "Grab the tabletop paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the white rectangular paymentsign with yellow details, lift, and turn it QR code forward", + "Use the left arm to grab the yellow and white payment display and rotate the qrcode to face you.", + "Use the left arm to grab the plastic smooth paymentsign, rotate, and face the QR code towards you.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Catch and lift the tabletop paymentsign, then turn it to show the QR code.", + "Locate the plastic smooth paymentsign, pick it up, and adjust its angle.", + "Grab the white rectangular paymentsign with yellow details with the left arm, then rotate it to face yourself.", + "Grab the tabletop paymentsign using the left arm, then rotate the QR code to face forward.", + "Catch the white rectangular paymentsign with yellow details using the left arm, pick it up, and turn it to face the QR code.", + "Grab the white rectangular paymentsign with yellow details, pick it up, and turn its qrcode toward you.", + "Lift the yellow and white payment display and rotate until its qrcode faces you.", + "Use the left arm to grab the paymentsign with QR code area and rotate it until the QR faces forward", + "Catch the white stand sign, lift it, and turn the qrcode towards you.", + "Lift the smooth plastic paymentsign with QR code from the table and turn it to face you.", + "Catch the plastic smooth paymentsign, lift it, and adjust its QR code to face you.", + "Pick up the sign with yellow payment section and adjust its position to face the qrcode towards you.", + "Grab the white stand sign, lift it from the table, and rotate it QR front", + "Use the left arm to grab the plastic smooth paymentsign and rotate QR code towards you.", + "Use the left arm to lift the smooth plastic paymentsign with QR code and rotate it QR code toward you.", + "Employ the left arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Catch the sign with yellow payment section, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign and rotate it until the QR code faces you.", + "Catch the white paymentsign with raised base, pick it up, and rotate to show the QR code.", + "Pick up the paymentsign and rotate it so the QR code faces you", + "Use the left arm to grab the yellow and white payment display and point its QR code toward you.", + "Lift the sign with yellow payment section from the table and rotate it towards you", + "Use the left arm to take the white paymentsign with raised base and turn it until the QR code faces you", + "Pick the smooth plastic paymentsign with QR code up, rotate it, and ensure the QR code faces you.", + "Using the left arm, catch the white stand sign and rotate it to face the QR code.", + "Use the left arm to lift the white paymentsign with raised base from the table and face the qrcode.", + "Use the left arm to pick the yellow panel white paymentsign and turn it towards you.", + "Lift the white stand sign from the table and rotate it so the code faces you.", + "Lift the sign with yellow payment section with the left arm, then rotate it to make the qrcode visible.", + "Catch the yellow panel white paymentsign, raise it, and turn it so the QR code faces you", + "Take the sign with yellow payment section from the table, rotating it QR code toward you.", + "Catch the white rectangular paymentsign with yellow details, lift it, and rotate it QR code facing.", + "Catch the rectangular paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Pick the white stand sign up and turn its QR code toward you using the left arm.", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Grab the yellow and white payment display using the left arm, then rotate it until the qrcode faces you.", + "Slide the paymentsign off the table and turn it to face you.", + "Find the white stand sign, grab it, and turn it towards yourself.", + "Catch the paymentsign with QR code area off the table and rotate its qrcode to you.", + "Pick the white paymentsign with raised base up, then rotate to make its qrcode visible.", + "Catch the white paymentsign with raised base with the left arm, then rotate it to make the QR code visible.", + "Lift the plastic smooth paymentsign and orient its QR code toward you with the left arm.", + "Take the sign with yellow payment section, lift it, and orient it so the QR faces you", + "Take the paymentsign with QR code area, raise it, and make the qrcode face you.", + "Lift the yellow and white payment display from the surface and adjust its angle towards you", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the smooth plastic paymentsign with QR code, lift, and turn it QR code forward", + "Use the left arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Use the left arm to grab the white paymentsign with raised base, rotate, and face the QR code towards you.", + "Lift the yellow panel white paymentsign and rotate for its qrcode to face you.", + "Catch and lift the tabletop paymentsign, then turn it to show the QR code.", + "Locate the paymentsign with QR code area, pick it up, and adjust its angle.", + "Grab the yellow and white payment display with the left arm, then rotate it to face yourself.", + "Grab the white rectangular paymentsign with yellow details using the left arm, then rotate the QR code to face forward.", + "Catch the white paymentsign with raised base using the left arm, pick it up, and turn it to face the QR code.", + "Grab the smooth plastic paymentsign with QR code, pick it up, and turn its qrcode toward you.", + "Lift the white paymentsign with raised base and rotate until its qrcode faces you.", + "Use the left arm to grab the yellow panel white paymentsign and rotate it until the QR faces forward", + "Catch the sign with yellow payment section, lift it, and turn the qrcode towards you.", + "Lift the paymentsign with QR code area from the table and turn it to face you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and adjust its QR code to face you.", + "Pick up the white stand sign and adjust its position to face the qrcode towards you.", + "Grab the white rectangular paymentsign with yellow details, lift it from the table, and rotate it QR front", + "Use the left arm to grab the white stand sign and rotate QR code towards you.", + "Use the left arm to lift the paymentsign with QR code area and rotate it QR code toward you.", + "Employ the left arm to seize the smooth plastic paymentsign with QR code, raise it, and rotate it QR-forward", + "Catch the plastic smooth paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign with QR code area and rotate it until the QR code faces you.", + "Catch the sign with yellow payment section, pick it up, and rotate to show the QR code.", + "Pick up the white stand sign and rotate it so the QR code faces you", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Lift the yellow panel white paymentsign from the table and rotate it towards you", + "Use the left arm to take the plastic smooth paymentsign and turn it until the QR code faces you", + "Pick the white stand sign up, rotate it, and ensure the QR code faces you.", + "Using the left arm, catch the yellow and white payment display and rotate it to face the QR code.", + "Use the left arm to lift the white stand sign from the table and face the qrcode.", + "Use the left arm to pick the yellow and white payment display and turn it towards you.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it so the code faces you.", + "Lift the rectangular paymentsign with stand with the left arm, then rotate it to make the qrcode visible.", + "Catch the plastic smooth paymentsign, raise it, and turn it so the QR code faces you", + "Take the plastic smooth paymentsign from the table, rotating it QR code toward you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and rotate it QR code facing.", + "Catch the white stand sign, lift, and rotate to align the qrcode to you.", + "Pick the smooth plastic paymentsign with QR code up and turn its QR code toward you using the left arm.", + "Lift the white stand sign from the table, turning it QR code forward.", + "Grab the smooth plastic paymentsign with QR code using the left arm, then rotate it until the qrcode faces you.", + "Slide the paymentsign with QR code area off the table and turn it to face you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Catch the smooth plastic paymentsign with QR code off the table and rotate its qrcode to you.", + "Pick the smooth plastic paymentsign with QR code up, then rotate to make its qrcode visible.", + "Catch the plastic smooth paymentsign with the left arm, then rotate it to make the QR code visible." + ], + "unseen": [ + "Catch the sign for payment processing from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode20.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..550864c3bb2e49c0864ede34c04e2ba2f5b017fb --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the white stand sign with the left arm, then rotate it to make the QR code visible.", + "Catch the yellow panel white paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the white stand sign and rotate the qrcode to face you.", + "Slide the rectangular paymentsign with stand off the table and turn it to face you.", + "Catch the sign with yellow payment section, lift it, and rotate it QR code facing.", + "Use the left arm to take the yellow and white payment display and turn it until the QR code faces you", + "Use the left arm to lift the paymentsign with QR code area from the table and face the qrcode.", + "Use the left arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to view the qrcode.", + "Using the left arm, catch the white rectangular paymentsign with yellow details and rotate it to face the QR code.", + "Catch the yellow and white payment display using the left arm, pick it up, and turn it to face the QR code.", + "Lift the rectangular paymentsign with stand from the surface and adjust its angle towards you", + "Locate the paymentsign with QR code area, pick it up, and adjust its angle.", + "Take the rectangular paymentsign with stand from the table, rotating it QR code toward you.", + "Use the left arm to grab the yellow panel white paymentsign and rotate it until the QR faces forward", + "Grab the smooth plastic paymentsign with QR code, lift it from the table, and rotate it QR front", + "Lift the paymentsign from the table, turning it QR code forward.", + "Take the yellow panel white paymentsign, lift it, and orient it so the QR faces you", + "Grab the paymentsign with the left arm, then rotate it to face yourself.", + "Grab the tabletop paymentsign using the left arm, then rotate the QR code to face forward.", + "Lift the white stand sign from the table and rotate it towards you", + "Lift the white paymentsign with raised base from the table and turn it to face you.", + "Pick the paymentsign with QR code area up, then rotate to make its qrcode visible.", + "Lift the white rectangular paymentsign with yellow details and rotate until its qrcode faces you.", + "Grab the white rectangular paymentsign with yellow details, pick it up, and turn its qrcode toward you.", + "Lift the white paymentsign with raised base and rotate it until the QR code faces you.", + "Catch the yellow and white payment display, pick it up, and rotate to show the QR code.", + "Find the white paymentsign with raised base, grab it, and turn it towards yourself.", + "Pick up the paymentsign with QR code area and adjust its position to face the qrcode towards you.", + "Grab the smooth plastic paymentsign with QR code using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to pick the paymentsign with QR code area and turn it towards you.", + "Catch the tabletop paymentsign off the table and rotate its qrcode to you.", + "Pick the tabletop paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the paymentsign with QR code area, lift, and turn it QR code forward", + "Catch the smooth plastic paymentsign with QR code, lift it, and adjust its QR code to face you.", + "Catch the white rectangular paymentsign with yellow details, lift it, and turn the qrcode towards you.", + "Take the white stand sign, raise it, and make the qrcode face you.", + "Pick up the white rectangular paymentsign with yellow details and rotate it so the QR code faces you", + "Employ the left arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Lift the yellow and white payment display and orient its QR code toward you with the left arm.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it so the code faces you.", + "Lift the sign with yellow payment section and rotate for its qrcode to face you.", + "Grab the white rectangular paymentsign with yellow details using the left arm, then rotate it until the qrcode faces you.", + "Catch the sign with yellow payment section, raise it, and turn it so the QR code faces you", + "Catch and lift the rectangular paymentsign with stand, then turn it to show the QR code.", + "Use the left arm to grab the yellow panel white paymentsign, rotate, and face the QR code towards you.", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Use the left arm to grab the yellow panel white paymentsign and rotate QR code towards you.", + "Pick the yellow and white payment display up and turn its QR code toward you using the left arm.", + "Catch the white rectangular paymentsign with yellow details with the left arm, then rotate it to make the QR code visible.", + "Catch the plastic smooth paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Slide the rectangular paymentsign with stand off the table and turn it to face you.", + "Catch the plastic smooth paymentsign, lift it, and rotate it QR code facing.", + "Use the left arm to take the yellow panel white paymentsign and turn it until the QR code faces you", + "Use the left arm to lift the yellow and white payment display from the table and face the qrcode.", + "Use the left arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Using the left arm, catch the sign with yellow payment section and rotate it to face the QR code.", + "Catch the tabletop paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Locate the smooth plastic paymentsign with QR code, pick it up, and adjust its angle.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Use the left arm to grab the sign with yellow payment section and rotate it until the QR faces forward", + "Grab the tabletop paymentsign, lift it from the table, and rotate it QR front", + "Lift the white paymentsign with raised base from the table, turning it QR code forward.", + "Take the smooth plastic paymentsign with QR code, lift it, and orient it so the QR faces you", + "Grab the tabletop paymentsign with the left arm, then rotate it to face yourself.", + "Grab the paymentsign with QR code area using the left arm, then rotate the QR code to face forward.", + "Lift the yellow panel white paymentsign from the table and rotate it towards you", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Pick the yellow panel white paymentsign up, then rotate to make its qrcode visible.", + "Lift the plastic smooth paymentsign and rotate until its qrcode faces you.", + "Grab the paymentsign with QR code area, pick it up, and turn its qrcode toward you.", + "Lift the white paymentsign with raised base and rotate it until the QR code faces you.", + "Catch the sign with yellow payment section, pick it up, and rotate to show the QR code.", + "Find the yellow panel white paymentsign, grab it, and turn it towards yourself.", + "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.", + "Grab the smooth plastic paymentsign with QR code using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to pick the sign with yellow payment section and turn it towards you.", + "Catch the white paymentsign with raised base off the table and rotate its qrcode to you.", + "Pick the smooth plastic paymentsign with QR code up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the white stand sign, lift, and turn it QR code forward", + "Catch the white rectangular paymentsign with yellow details, lift it, and adjust its QR code to face you.", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Take the rectangular paymentsign with stand, raise it, and make the qrcode face you.", + "Pick up the sign with yellow payment section and rotate it so the QR code faces you", + "Employ the left arm to seize the yellow and white payment display, raise it, and rotate it QR-forward", + "Lift the white paymentsign with raised base and orient its QR code toward you with the left arm.", + "Lift the yellow panel white paymentsign from the table and rotate it so the code faces you.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Grab the tabletop paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you", + "Catch and lift the yellow panel white paymentsign, then turn it to show the QR code.", + "Use the left arm to grab the yellow and white payment display, rotate, and face the QR code towards you.", + "Lift the paymentsign with QR code area with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the plastic smooth paymentsign and point its QR code toward you.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and rotate QR code towards you.", + "Pick the smooth plastic paymentsign with QR code up and turn its QR code toward you using the left arm." + ], + "unseen": [ + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode21.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..9fa9808d944bfae0823b2d846756985a46ecf060 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.", + "Use the left arm to grab the beige paymentsign with printed details and rotate the qrcode to face you.", + "Slide the smooth beige paymentsign off the table and turn it to face you.", + "Lift the beige paymentsign with printed details from the table and rotate it so the code faces you.", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Catch the rectangular paymentsign with colorful top off the table and rotate its qrcode to you.", + "Find the beige paymentsign with printed details, grab it, and turn it towards yourself.", + "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.", + "Catch the smooth beige paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the rectangular paymentsign with colorful top with the left arm, then rotate it to make the QR code visible.", + "Lift the compact paymentsign for scanning payments with the left arm, then rotate it to make the qrcode visible.", + "Pick up the rectangular paymentsign with colorful top and rotate it so the QR code faces you", + "Use the left arm to pick the paymentsign resting on angled base and turn it towards you.", + "Lift the paymentsign with blue and white text from the table, turning it QR code forward.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.", + "Pick the paymentsign resting on angled base up, then rotate to make its qrcode visible.", + "Lift the paymentsign showing QR code label and rotate for its qrcode to face you.", + "Employ the left arm to seize the paymentsign showing QR code label, raise it, and rotate it QR-forward", + "Use the left arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Lift the QR code paymentsign and orient its QR code toward you with the left arm.", + "Locate the beige paymentsign, pick it up, and adjust its angle.", + "Use the left arm to grab the paymentsign showing QR code label, lift, and turn it QR code forward", + "Using the left arm, catch the paymentsign with blue and white text and rotate it to face the QR code.", + "Catch and lift the QR code paymentsign, then turn it to show the QR code.", + "Grab the QR code paymentsign with the left arm, then rotate it to face yourself.", + "Lift the small paymentsign for mobile payments from the table and turn it to face you.", + "Take the beige paymentsign, raise it, and make the qrcode face you.", + "Grab the smooth beige paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to lift the paymentsign showing QR code label from the table and face the qrcode.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Grab the beige paymentsign with printed details using the left arm, lift, and rotate until QR code faces you.", + "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.", + "Use the left arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Pick the beige paymentsign up and turn its QR code toward you using the left arm.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you", + "Grab the beige paymentsign with printed details using the left arm, then rotate it until the qrcode faces you.", + "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.", + "Catch the small paymentsign for mobile payments, lift it, and rotate it QR code facing.", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the paymentsign with tilted rectangular panel and rotate it QR code toward you.", + "Use the left arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Take the paymentsign with blue and white text from the table, rotating it QR code toward you.", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the stand-up paymentsign with rectangular top and point its QR code toward you.", + "Lift the beige paymentsign with printed details and rotate until its qrcode faces you.", + "Use the left arm to grab the paymentsign showing QR code label and rotate QR code towards you.", + "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.", + "Lift the stand-up paymentsign with rectangular top from the surface and adjust its angle towards you", + "Lift the paymentsign with tilted rectangular panel and rotate it until the QR code faces you.", + "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.", + "Slide the beige paymentsign with printed details off the table and turn it to face you.", + "Lift the QR code paymentsign from the table and rotate it so the code faces you.", + "Catch the paymentsign resting on angled base, raise it, and turn it so the QR code faces you", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Find the beige paymentsign, grab it, and turn it towards yourself.", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Catch the paymentsign showing QR code label using the left arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with blue and white text with the left arm, then rotate it to make the QR code visible.", + "Lift the smooth beige paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Use the left arm to pick the small paymentsign for mobile payments and turn it towards you.", + "Lift the smooth beige paymentsign from the table, turning it QR code forward.", + "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you", + "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.", + "Pick the paymentsign resting on angled base up, then rotate to make its qrcode visible.", + "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.", + "Employ the left arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to grab the compact paymentsign for scanning payments, rotate, and face the QR code towards you.", + "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the left arm.", + "Locate the beige paymentsign, pick it up, and adjust its angle.", + "Use the left arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward", + "Using the left arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.", + "Catch and lift the QR code paymentsign, then turn it to show the QR code.", + "Grab the paymentsign with tilted rectangular panel with the left arm, then rotate it to face yourself.", + "Lift the compact paymentsign for scanning payments from the table and turn it to face you.", + "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.", + "Grab the QR code paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to lift the beige paymentsign from the table and face the qrcode.", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Grab the paymentsign showing QR code label using the left arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.", + "Use the left arm to take the stand-up paymentsign with rectangular top and turn it until the QR code faces you", + "Pick the paymentsign resting on angled base up and turn its QR code toward you using the left arm.", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Grab the beige paymentsign with printed details using the left arm, then rotate it until the qrcode faces you.", + "Catch the beige paymentsign with printed details, lift it, and adjust its QR code to face you.", + "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.", + "Catch the beige paymentsign, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Use the left arm to grab the beige paymentsign and rotate it until the QR faces forward", + "Take the paymentsign showing QR code label from the table, rotating it QR code toward you.", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Pick the paymentsign with blue and white text up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and point its QR code toward you.", + "Lift the beige paymentsign and rotate until its qrcode faces you.", + "Use the left arm to grab the compact paymentsign for scanning payments and rotate QR code towards you." + ], + "unseen": [ + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode22.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..e8085e2cb0492cf99020899926f5089dbb2f3c5f --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Catch the yellow and white payment display using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to lift the yellow and white payment display and rotate it QR code toward you.", + "Catch the rectangular paymentsign with stand, lift it, and rotate it QR code facing.", + "Use the right arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Catch the yellow and white payment display, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the yellow and white payment display, rotate, and face the QR code towards you.", + "Catch the yellow panel white paymentsign, raise it, and turn it so the QR code faces you", + "Catch the white paymentsign with raised base off the table and rotate its qrcode to you.", + "Lift the rectangular paymentsign with stand from the table and turn it to face you.", + "Lift the paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Lift the plastic smooth paymentsign and rotate it until the QR code faces you.", + "Catch the yellow and white payment display, pick it up, and rotate to show the QR code.", + "Pick the yellow and white payment display up, rotate it, and ensure the QR code faces you.", + "Employ the right arm to seize the yellow panel white paymentsign, raise it, and rotate it QR-forward", + "Grab the paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Pick the white paymentsign with raised base up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the paymentsign and point its QR code toward you.", + "Lift the yellow and white payment display from the table, turning it QR code forward.", + "Lift the yellow and white payment display from the table and rotate it towards you", + "Catch and lift the yellow panel white paymentsign, then turn it to show the QR code.", + "Take the rectangular paymentsign with stand from the table, rotating it QR code toward you.", + "Lift the white rectangular paymentsign with yellow details and rotate for its qrcode to face you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to view the qrcode.", + "Find the white stand sign, grab it, and turn it towards yourself.", + "Use the right arm to take the white paymentsign with raised base and turn it until the QR code faces you", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Use the right arm to grab the sign with yellow payment section and rotate the qrcode to face you.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Catch the paymentsign with QR code area with the right arm, then rotate it to make the QR code visible.", + "Using the right arm, catch the yellow panel white paymentsign and rotate it to face the QR code.", + "Take the yellow panel white paymentsign, raise it, and make the qrcode face you.", + "Use the right arm to lift the yellow and white payment display from the table and face the qrcode.", + "Grab the white rectangular paymentsign with yellow details, pick it up, and turn its qrcode toward you.", + "Grab the plastic smooth paymentsign, lift it from the table, and rotate it QR front", + "Grab the white stand sign using the right arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign with QR code area from the table and rotate it so the code faces you.", + "Lift the yellow panel white paymentsign and orient its QR code toward you with the right arm.", + "Grab the yellow panel white paymentsign with the right arm, then rotate it to face yourself.", + "Pick up the white paymentsign with raised base and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the smooth plastic paymentsign with QR code, lift, and turn it QR code forward", + "Use the right arm to pick the sign with yellow payment section and turn it towards you.", + "Catch the yellow panel white paymentsign, lift it, and turn the qrcode towards you.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Pick up the plastic smooth paymentsign and rotate it so the QR code faces you", + "Use the right arm to grab the white paymentsign with raised base and rotate it until the QR faces forward", + "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Take the white rectangular paymentsign with yellow details, lift it, and orient it so the QR faces you", + "Grab the smooth plastic paymentsign with QR code using the right arm, then rotate the QR code to face forward.", + "Catch the yellow and white payment display, lift it, and adjust its QR code to face you.", + "Catch the white rectangular paymentsign with yellow details using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to lift the sign with yellow payment section and rotate it QR code toward you.", + "Catch the white paymentsign with raised base, lift it, and rotate it QR code facing.", + "Use the right arm to grab the plastic smooth paymentsign and rotate QR code towards you.", + "Catch the tabletop paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the white paymentsign with raised base, rotate, and face the QR code towards you.", + "Catch the rectangular paymentsign with stand, raise it, and turn it so the QR code faces you", + "Catch the white stand sign off the table and rotate its qrcode to you.", + "Lift the white stand sign from the table and turn it to face you.", + "Lift the sign with yellow payment section with the right arm, then rotate it to make the qrcode visible.", + "Lift the yellow panel white paymentsign and rotate it until the QR code faces you.", + "Catch the white stand sign, pick it up, and rotate to show the QR code.", + "Pick the white rectangular paymentsign with yellow details up, rotate it, and ensure the QR code faces you.", + "Employ the right arm to seize the white rectangular paymentsign with yellow details, raise it, and rotate it QR-forward", + "Grab the paymentsign with QR code area using the right arm, then rotate it until the qrcode faces you.", + "Pick the paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the yellow and white payment display and point its QR code toward you.", + "Lift the white rectangular paymentsign with yellow details from the table, turning it QR code forward.", + "Lift the yellow panel white paymentsign from the table and rotate it towards you", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Take the white stand sign from the table, rotating it QR code toward you.", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to view the qrcode.", + "Find the tabletop paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to take the paymentsign with QR code area and turn it until the QR code faces you", + "Lift the plastic smooth paymentsign from the surface and adjust its angle towards you", + "Use the right arm to grab the paymentsign with QR code area and rotate the qrcode to face you.", + "Pick the white paymentsign with raised base up, then rotate to make its qrcode visible.", + "Catch the plastic smooth paymentsign with the right arm, then rotate it to make the QR code visible.", + "Using the right arm, catch the plastic smooth paymentsign and rotate it to face the QR code.", + "Take the sign with yellow payment section, raise it, and make the qrcode face you.", + "Use the right arm to lift the white rectangular paymentsign with yellow details from the table and face the qrcode.", + "Grab the rectangular paymentsign with stand, pick it up, and turn its qrcode toward you.", + "Grab the smooth plastic paymentsign with QR code, lift it from the table, and rotate it QR front", + "Grab the tabletop paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the rectangular paymentsign with stand from the table and rotate it so the code faces you.", + "Lift the paymentsign with QR code area and orient its QR code toward you with the right arm.", + "Grab the white stand sign with the right arm, then rotate it to face yourself.", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Use the right arm to pick the rectangular paymentsign with stand and turn it towards you.", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Locate the plastic smooth paymentsign, pick it up, and adjust its angle.", + "Pick up the white paymentsign with raised base and rotate it so the QR code faces you", + "Use the right arm to grab the yellow and white payment display and rotate it until the QR faces forward", + "Lift the paymentsign with QR code area and rotate until its qrcode faces you.", + "Slide the smooth plastic paymentsign with QR code off the table and turn it to face you.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you" + ], + "unseen": [ + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode23.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..15bcb4568823fb77b07a56396f94778782553c0e --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Lift the rectangular paymentsign with stand from the table and turn it to face you.", + "Find the white stand sign, grab it, and turn it towards yourself.", + "Grab the sign with yellow payment section, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the white rectangular paymentsign with yellow details, rotate, and face the QR code towards you.", + "Use the left arm to lift the yellow panel white paymentsign and rotate it QR code toward you.", + "Catch the white stand sign, pick it up, and rotate to show the QR code.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to view the qrcode.", + "Pick up the rectangular paymentsign with stand and rotate it so the QR code faces you", + "Grab the white paymentsign with raised base, lift it from the table, and rotate it QR front", + "Locate the yellow panel white paymentsign, pick it up, and adjust its angle.", + "Lift the rectangular paymentsign with stand from the table and rotate it towards you", + "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.", + "Lift the yellow panel white paymentsign from the table and rotate it so the code faces you.", + "Catch the white stand sign, lift it, and turn the qrcode towards you.", + "Lift the white stand sign and orient its QR code toward you with the left arm.", + "Use the left arm to grab the white stand sign and rotate it until the QR faces forward", + "Use the left arm to pick the smooth plastic paymentsign with QR code and turn it towards you.", + "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate the qrcode to face you.", + "Catch the white stand sign, lift it, and rotate it QR code facing.", + "Employ the left arm to seize the rectangular paymentsign with stand, raise it, and rotate it QR-forward", + "Catch the yellow and white payment display using the left arm, pick it up, and turn it to face the QR code.", + "Lift the tabletop paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Catch and lift the yellow panel white paymentsign, then turn it to show the QR code.", + "Grab the white stand sign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and rotate QR code towards you.", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Use the left arm to take the white rectangular paymentsign with yellow details and turn it until the QR code faces you", + "Slide the yellow and white payment display off the table and turn it to face you.", + "Use the left arm to lift the smooth plastic paymentsign with QR code from the table and face the qrcode.", + "Catch the smooth plastic paymentsign with QR code, lift it, and adjust its QR code to face you.", + "Pick the paymentsign with QR code area up and turn its QR code toward you using the left arm.", + "Grab the rectangular paymentsign with stand using the left arm, then rotate it until the qrcode faces you.", + "Take the white paymentsign with raised base, lift it, and orient it so the QR faces you", + "Catch the paymentsign with QR code area, lift, and rotate to align the qrcode to you.", + "Catch the sign with yellow payment section with the left arm, then rotate it to make the QR code visible.", + "Catch the white stand sign off the table and rotate its qrcode to you.", + "Using the left arm, catch the rectangular paymentsign with stand and rotate it to face the QR code.", + "Use the left arm to grab the yellow panel white paymentsign, lift, and turn it QR code forward", + "Grab the yellow and white payment display using the left arm, lift, and rotate until QR code faces you.", + "Lift the rectangular paymentsign with stand and rotate it until the QR code faces you.", + "Catch the white stand sign, raise it, and turn it so the QR code faces you", + "Lift the white paymentsign with raised base from the table, turning it QR code forward.", + "Take the white stand sign, raise it, and make the qrcode face you.", + "Lift the plastic smooth paymentsign and rotate for its qrcode to face you.", + "Grab the paymentsign with QR code area with the left arm, then rotate it to face yourself.", + "Take the smooth plastic paymentsign with QR code from the table, rotating it QR code toward you.", + "Lift the tabletop paymentsign from the surface and adjust its angle towards you", + "Use the left arm to grab the rectangular paymentsign with stand and point its QR code toward you.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign with QR code area from the table and turn it to face you.", + "Find the white stand sign, grab it, and turn it towards yourself.", + "Grab the plastic smooth paymentsign, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the sign with yellow payment section, rotate, and face the QR code towards you.", + "Use the left arm to lift the yellow panel white paymentsign and rotate it QR code toward you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to view the qrcode.", + "Pick up the yellow and white payment display and rotate it so the QR code faces you", + "Grab the paymentsign with QR code area, lift it from the table, and rotate it QR front", + "Locate the paymentsign with QR code area, pick it up, and adjust its angle.", + "Lift the plastic smooth paymentsign from the table and rotate it towards you", + "Pick up the rectangular paymentsign with stand and adjust its position to face the qrcode towards you.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it so the code faces you.", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Lift the paymentsign with QR code area and orient its QR code toward you with the left arm.", + "Use the left arm to grab the sign with yellow payment section and rotate it until the QR faces forward", + "Use the left arm to pick the rectangular paymentsign with stand and turn it towards you.", + "Lift the plastic smooth paymentsign and rotate until its qrcode faces you.", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Catch the plastic smooth paymentsign, lift it, and rotate it QR code facing.", + "Employ the left arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Catch the yellow and white payment display using the left arm, pick it up, and turn it to face the QR code.", + "Lift the sign with yellow payment section with the left arm, then rotate it to make the qrcode visible.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Grab the paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Pick the smooth plastic paymentsign with QR code up, rotate it, and ensure the QR code faces you.", + "Use the left arm to take the yellow panel white paymentsign and turn it until the QR code faces you", + "Slide the sign with yellow payment section off the table and turn it to face you.", + "Use the left arm to lift the yellow and white payment display from the table and face the qrcode.", + "Catch the paymentsign with QR code area, lift it, and adjust its QR code to face you.", + "Pick the tabletop paymentsign up and turn its QR code toward you using the left arm.", + "Grab the sign with yellow payment section using the left arm, then rotate it until the qrcode faces you.", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Catch the white rectangular paymentsign with yellow details, lift, and rotate to align the qrcode to you.", + "Catch the white paymentsign with raised base with the left arm, then rotate it to make the QR code visible.", + "Catch the smooth plastic paymentsign with QR code off the table and rotate its qrcode to you.", + "Using the left arm, catch the paymentsign and rotate it to face the QR code.", + "Use the left arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Grab the white paymentsign with raised base using the left arm, lift, and rotate until QR code faces you.", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Catch the white rectangular paymentsign with yellow details, raise it, and turn it so the QR code faces you", + "Lift the white rectangular paymentsign with yellow details from the table, turning it QR code forward.", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Lift the plastic smooth paymentsign and rotate for its qrcode to face you.", + "Grab the smooth plastic paymentsign with QR code with the left arm, then rotate it to face yourself.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Lift the plastic smooth paymentsign from the surface and adjust its angle towards you", + "Use the left arm to grab the sign with yellow payment section and point its QR code toward you." + ], + "unseen": [ + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode24.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..bf25489e53ef86720375406b173de14169c593f3 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the smooth plastic paymentsign with QR code from the table, rotating it QR code toward you.", + "Lift the plastic smooth paymentsign and orient its QR code toward you with the right arm.", + "Use the right arm to grab the tabletop paymentsign and point its QR code toward you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to view the qrcode.", + "Catch and lift the white rectangular paymentsign with yellow details, then turn it to show the QR code.", + "Pick the smooth plastic paymentsign with QR code up, then rotate to make its qrcode visible.", + "Use the right arm to take the white paymentsign with raised base and turn it until the QR code faces you", + "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.", + "Lift the yellow and white payment display and rotate until its qrcode faces you.", + "Employ the right arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Catch the paymentsign with QR code area, lift it, and rotate it QR code facing.", + "Grab the paymentsign with QR code area, pick it up, and turn its qrcode toward you.", + "Catch the tabletop paymentsign with the right arm, then rotate it to make the QR code visible.", + "Lift the paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Lift the white paymentsign with raised base from the table and turn it to face you.", + "Lift the rectangular paymentsign with stand from the table and rotate it so the code faces you.", + "Grab the rectangular paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to lift the white stand sign and rotate it QR code toward you.", + "Locate the white stand sign, pick it up, and adjust its angle.", + "Catch the white rectangular paymentsign with yellow details, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Using the right arm, catch the rectangular paymentsign with stand and rotate it to face the QR code.", + "Grab the paymentsign with QR code area, lift it from the table, and rotate it QR front", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Grab the paymentsign with QR code area using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the white paymentsign with raised base, lift, and turn it QR code forward", + "Find the paymentsign with QR code area, grab it, and turn it towards yourself.", + "Lift the paymentsign from the table and rotate it towards you", + "Grab the smooth plastic paymentsign with QR code using the right arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Slide the white paymentsign with raised base off the table and turn it to face you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to show the QR code.", + "Use the right arm to pick the smooth plastic paymentsign with QR code and turn it towards you.", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Use the right arm to lift the yellow panel white paymentsign from the table and face the qrcode.", + "Catch the paymentsign with QR code area off the table and rotate its qrcode to you.", + "Take the smooth plastic paymentsign with QR code, raise it, and make the qrcode face you.", + "Use the right arm to grab the yellow panel white paymentsign, rotate, and face the QR code towards you.", + "Pick up the smooth plastic paymentsign with QR code and rotate it so the QR code faces you", + "Pick the white stand sign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the paymentsign and rotate QR code towards you.", + "Lift the paymentsign and rotate it until the QR code faces you.", + "Grab the rectangular paymentsign with stand with the right arm, then rotate it to face yourself.", + "Pick the paymentsign with QR code area up and turn its QR code toward you using the right arm.", + "Catch the plastic smooth paymentsign, raise it, and turn it so the QR code faces you", + "Catch the sign with yellow payment section, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate it until the QR faces forward", + "Take the rectangular paymentsign with stand from the table, rotating it QR code toward you.", + "Lift the yellow and white payment display and orient its QR code toward you with the right arm.", + "Use the right arm to grab the paymentsign and point its QR code toward you.", + "Catch the rectangular paymentsign with stand, pick it up, and rotate to view the qrcode.", + "Catch and lift the yellow panel white paymentsign, then turn it to show the QR code.", + "Pick the yellow and white payment display up, then rotate to make its qrcode visible.", + "Use the right arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Pick up the yellow panel white paymentsign and adjust its position to face the qrcode towards you.", + "Lift the white rectangular paymentsign with yellow details and rotate until its qrcode faces you.", + "Employ the right arm to seize the white stand sign, raise it, and rotate it QR-forward", + "Take the smooth plastic paymentsign with QR code, lift it, and orient it so the QR faces you", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Grab the yellow and white payment display, pick it up, and turn its qrcode toward you.", + "Catch the tabletop paymentsign with the right arm, then rotate it to make the QR code visible.", + "Lift the rectangular paymentsign with stand with the right arm, then rotate it to make the qrcode visible.", + "Lift the smooth plastic paymentsign with QR code from the table, turning it QR code forward.", + "Catch the white paymentsign with raised base using the right arm, pick it up, and turn it to face the QR code.", + "Lift the rectangular paymentsign with stand from the table and turn it to face you.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it so the code faces you.", + "Grab the paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to lift the smooth plastic paymentsign with QR code and rotate it QR code toward you.", + "Locate the white stand sign, pick it up, and adjust its angle.", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the rectangular paymentsign with stand and rotate the qrcode to face you.", + "Using the right arm, catch the white paymentsign with raised base and rotate it to face the QR code.", + "Grab the plastic smooth paymentsign, lift it from the table, and rotate it QR front", + "Lift the rectangular paymentsign with stand and rotate for its qrcode to face you.", + "Grab the white rectangular paymentsign with yellow details using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the white stand sign, lift, and turn it QR code forward", + "Find the smooth plastic paymentsign with QR code, grab it, and turn it towards yourself.", + "Lift the yellow and white payment display from the table and rotate it towards you", + "Grab the yellow and white payment display using the right arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Slide the white paymentsign with raised base off the table and turn it to face you.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to show the QR code.", + "Use the right arm to pick the plastic smooth paymentsign and turn it towards you.", + "Catch the white stand sign, lift it, and turn the qrcode towards you.", + "Use the right arm to lift the yellow panel white paymentsign from the table and face the qrcode.", + "Catch the yellow and white payment display off the table and rotate its qrcode to you.", + "Take the white paymentsign with raised base, raise it, and make the qrcode face you.", + "Use the right arm to grab the sign with yellow payment section, rotate, and face the QR code towards you.", + "Pick up the paymentsign with QR code area and rotate it so the QR code faces you", + "Pick the tabletop paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the paymentsign and rotate QR code towards you.", + "Lift the yellow panel white paymentsign and rotate it until the QR code faces you.", + "Grab the paymentsign with the right arm, then rotate it to face yourself.", + "Pick the paymentsign up and turn its QR code toward you using the right arm.", + "Catch the yellow and white payment display, raise it, and turn it so the QR code faces you", + "Catch the white rectangular paymentsign with yellow details, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate it until the QR faces forward" + ], + "unseen": [ + "Catch the sign for payment processing on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode25.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..e2d58785b07e24f3d29723c26edbcae86b4f6597 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the gray slanted panel with text, lift it, and turn the qrcode towards you.", + "Use the left arm to pick the tabletop-sized payment sign and turn it towards you.", + "Use the left arm to take the paymentsign and turn it until the QR code faces you", + "Use the left arm to grab the gray top with QR code and rotate it until the QR faces forward", + "Lift the gray slanted panel with text and orient its QR code toward you with the left arm.", + "Grab the black base with tilted gray panel, lift it from the table, and rotate it QR front", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Catch and lift the green payment logo on gray top, then turn it to show the QR code.", + "Take the small payment stand with black base, lift it, and orient it so the QR faces you", + "Use the left arm to grab the payment sign with angled face and rotate the qrcode to face you.", + "Grab the triangular stand with QR code using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate QR code towards you.", + "Employ the left arm to seize the gray top with QR code, raise it, and rotate it QR-forward", + "Use the left arm to grab the payment sign with green logo and point its QR code toward you.", + "Catch the gray top with QR code, pick it up, and rotate to show the QR code.", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.", + "Use the left arm to lift the payment sign with angled face from the table and face the qrcode.", + "Pick the triangular stand with QR code up, then rotate to make its qrcode visible.", + "Pick the slanted gray panel for QR code scan up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the gray slanted panel with text and rotate it QR code toward you.", + "Take the triangular stand with QR code from the table, rotating it QR code toward you.", + "Use the left arm to grab the gray top with QR code, rotate, and face the QR code towards you.", + "Catch the gray top with QR code, raise it, and turn it so the QR code faces you", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Grab the triangular stand with QR code using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Slide the black base with tilted gray panel off the table and turn it to face you.", + "Lift the green payment logo on gray top with the left arm, then rotate it to make the qrcode visible.", + "Pick the slanted gray panel for QR code scan up and turn its QR code toward you using the left arm.", + "Lift the triangular stand with QR code from the table and turn it to face you.", + "Catch the tabletop-sized payment sign, pick it up, and rotate to view the qrcode.", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Catch the gray slanted panel with text off the table and rotate its qrcode to you.", + "Locate the gray top with QR code, pick it up, and adjust its angle.", + "Lift the black base with tilted gray panel and rotate it until the QR code faces you.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Using the left arm, catch the paymentsign and rotate it to face the QR code.", + "Use the left arm to grab the small payment stand with black base, lift, and turn it QR code forward", + "Grab the tabletop-sized payment sign with the left arm, then rotate it to face yourself.", + "Grab the triangular stand with QR code using the left arm, then rotate the QR code to face forward.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Catch the gray slanted panel with text, lift, and rotate to align the qrcode to you.", + "Lift the triangular stand with QR code from the surface and adjust its angle towards you", + "Find the payment sign with angled face, grab it, and turn it towards yourself.", + "Lift the green payment logo on gray top from the table and rotate it towards you", + "Catch the triangular stand with QR code, lift it, and turn the qrcode towards you.", + "Use the left arm to pick the payment sign with angled face and turn it towards you.", + "Use the left arm to take the gray slanted panel with text and turn it until the QR code faces you", + "Use the left arm to grab the green payment logo on gray top and rotate it until the QR faces forward", + "Lift the small black stand for payments and orient its QR code toward you with the left arm.", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Catch and lift the gray top with QR code, then turn it to show the QR code.", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the black base with tilted gray panel and rotate the qrcode to face you.", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the gray top with QR code and rotate QR code towards you.", + "Employ the left arm to seize the green payment logo on gray top, raise it, and rotate it QR-forward", + "Use the left arm to grab the gray top with QR code and point its QR code toward you.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Use the left arm to lift the black base with tilted gray panel from the table and face the qrcode.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Pick the payment sign with angled face up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the paymentsign and rotate it QR code toward you.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Use the left arm to grab the payment sign with angled face, rotate, and face the QR code towards you.", + "Catch the slanted gray panel for QR code scan, raise it, and turn it so the QR code faces you", + "Catch the tabletop-sized payment sign, lift it, and rotate it QR code facing.", + "Grab the green payment logo on gray top using the left arm, then rotate it until the qrcode faces you.", + "Catch the green payment logo on gray top with the left arm, then rotate it to make the QR code visible.", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Lift the payment sign with angled face with the left arm, then rotate it to make the qrcode visible.", + "Pick the gray top with QR code up and turn its QR code toward you using the left arm.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Catch the small black stand for payments using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the small black stand for payments and rotate it so the QR code faces you", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Locate the small payment stand with black base, pick it up, and adjust its angle.", + "Lift the payment sign with green logo and rotate it until the QR code faces you.", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Grab the triangular stand with QR code, pick it up, and turn its qrcode toward you.", + "Using the left arm, catch the paymentsign and rotate it to face the QR code.", + "Use the left arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Grab the green payment logo on gray top with the left arm, then rotate it to face yourself.", + "Grab the triangular stand with QR code using the left arm, then rotate the QR code to face forward.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Catch the payment sign with angled face, lift, and rotate to align the qrcode to you.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Find the small black stand for payments, grab it, and turn it towards yourself.", + "Lift the gray top with QR code from the table and rotate it towards you" + ], + "unseen": [ + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode26.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..b1b1ee7f4ea19ef9bc78180c6c2b4e7888e0706b --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, catch the white rectangular paymentsign with yellow details and rotate it to face the QR code.", + "Use the right arm to grab the white paymentsign with raised base and point its QR code toward you.", + "Use the right arm to grab the yellow panel white paymentsign and rotate QR code towards you.", + "Grab the sign with yellow payment section, pick it up, and turn its qrcode toward you.", + "Use the right arm to lift the white paymentsign with raised base and rotate it QR code toward you.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Take the white stand sign, raise it, and make the qrcode face you.", + "Lift the yellow and white payment display from the surface and adjust its angle towards you", + "Catch the rectangular paymentsign with stand using the right arm, pick it up, and turn it to face the QR code.", + "Pick up the white paymentsign with raised base and adjust its position to face the qrcode towards you.", + "Use the right arm to lift the smooth plastic paymentsign with QR code from the table and face the qrcode.", + "Use the right arm to pick the white stand sign and turn it towards you.", + "Lift the rectangular paymentsign with stand from the table and turn it to face you.", + "Pick the white rectangular paymentsign with yellow details up and turn its QR code toward you using the right arm.", + "Use the right arm to take the white paymentsign with raised base and turn it until the QR code faces you", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Catch and lift the smooth plastic paymentsign with QR code, then turn it to show the QR code.", + "Catch the smooth plastic paymentsign with QR code, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign with QR code area from the table and rotate it towards you", + "Catch the yellow and white payment display off the table and rotate its qrcode to you.", + "Find the yellow and white payment display, grab it, and turn it towards yourself.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate it until the QR faces forward", + "Slide the plastic smooth paymentsign off the table and turn it to face you.", + "Lift the paymentsign with QR code area from the table and rotate it so the code faces you.", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Catch the white stand sign, pick it up, and rotate to show the QR code.", + "Employ the right arm to seize the white stand sign, raise it, and rotate it QR-forward", + "Lift the plastic smooth paymentsign and orient its QR code toward you with the right arm.", + "Lift the white rectangular paymentsign with yellow details and rotate it until the QR code faces you.", + "Grab the white rectangular paymentsign with yellow details using the right arm, then rotate it until the qrcode faces you.", + "Lift the tabletop paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the white stand sign, lift it, and adjust its QR code to face you.", + "Take the smooth plastic paymentsign with QR code from the table, rotating it QR code toward you.", + "Grab the white stand sign with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the plastic smooth paymentsign and rotate the qrcode to face you.", + "Pick up the white stand sign and rotate it so the QR code faces you", + "Catch the white stand sign, pick it up, and rotate to view the qrcode.", + "Catch the paymentsign with QR code area, lift it, and turn the qrcode towards you.", + "Catch the plastic smooth paymentsign, lift it, and rotate it QR code facing.", + "Grab the smooth plastic paymentsign with QR code using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the rectangular paymentsign with stand, lift, and turn it QR code forward", + "Catch the plastic smooth paymentsign with the right arm, then rotate it to make the QR code visible.", + "Take the sign with yellow payment section, lift it, and orient it so the QR faces you", + "Grab the rectangular paymentsign with stand using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the yellow panel white paymentsign, rotate, and face the QR code towards you.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Using the right arm, catch the white stand sign and rotate it to face the QR code.", + "Use the right arm to grab the yellow and white payment display and point its QR code toward you.", + "Use the right arm to grab the yellow panel white paymentsign and rotate QR code towards you.", + "Grab the yellow panel white paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to lift the white stand sign and rotate it QR code toward you.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Take the white stand sign, raise it, and make the qrcode face you.", + "Lift the smooth plastic paymentsign with QR code from the surface and adjust its angle towards you", + "Catch the white stand sign using the right arm, pick it up, and turn it to face the QR code.", + "Pick up the plastic smooth paymentsign and adjust its position to face the qrcode towards you.", + "Use the right arm to lift the white stand sign from the table and face the qrcode.", + "Use the right arm to pick the white paymentsign with raised base and turn it towards you.", + "Lift the white paymentsign with raised base from the table and turn it to face you.", + "Pick the yellow panel white paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to take the plastic smooth paymentsign and turn it until the QR code faces you", + "Lift the rectangular paymentsign with stand and rotate for its qrcode to face you.", + "Catch and lift the paymentsign with QR code area, then turn it to show the QR code.", + "Catch the yellow panel white paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the yellow panel white paymentsign from the table and rotate it towards you", + "Catch the yellow and white payment display off the table and rotate its qrcode to you.", + "Find the smooth plastic paymentsign with QR code, grab it, and turn it towards yourself.", + "Grab the white rectangular paymentsign with yellow details, lift it from the table, and rotate it QR front", + "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.", + "Locate the plastic smooth paymentsign, pick it up, and adjust its angle.", + "Use the right arm to grab the yellow panel white paymentsign and rotate it until the QR faces forward", + "Slide the yellow and white payment display off the table and turn it to face you.", + "Lift the yellow and white payment display from the table and rotate it so the code faces you.", + "Pick the yellow panel white paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to show the QR code.", + "Employ the right arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Lift the paymentsign with QR code area and orient its QR code toward you with the right arm.", + "Lift the yellow panel white paymentsign and rotate it until the QR code faces you.", + "Grab the white rectangular paymentsign with yellow details using the right arm, then rotate it until the qrcode faces you.", + "Lift the tabletop paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign with QR code area, lift it, and adjust its QR code to face you.", + "Take the plastic smooth paymentsign from the table, rotating it QR code toward you.", + "Grab the yellow and white payment display with the right arm, then rotate it to face yourself.", + "Use the right arm to grab the yellow panel white paymentsign and rotate the qrcode to face you.", + "Pick up the white paymentsign with raised base and rotate it so the QR code faces you", + "Catch the yellow panel white paymentsign, pick it up, and rotate to view the qrcode.", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Catch the sign with yellow payment section, lift it, and rotate it QR code facing.", + "Grab the white paymentsign with raised base using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the yellow panel white paymentsign, lift, and turn it QR code forward", + "Catch the white rectangular paymentsign with yellow details with the right arm, then rotate it to make the QR code visible.", + "Take the plastic smooth paymentsign, lift it, and orient it so the QR faces you", + "Grab the rectangular paymentsign with stand using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the yellow panel white paymentsign, rotate, and face the QR code towards you.", + "Pick the rectangular paymentsign with stand up, then rotate to make its qrcode visible.", + "Catch the plastic smooth paymentsign, raise it, and turn it so the QR code faces you" + ], + "unseen": [ + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode27.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..5c09acea3c64d2147f82d594582aaebb7cb70d93 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the green payment logo on gray top from the table and turn it to face you.", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Pick the gray slanted panel with text up, rotate it, and ensure the QR code faces you.", + "Grab the slanted gray panel for QR code scan using the left arm, then rotate the QR code to face forward.", + "Lift the payment sign with angled face from the table and rotate it towards you", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Pick the payment sign with angled face up, then rotate to make its qrcode visible.", + "Pick up the gray slanted panel with text and adjust its position to face the qrcode towards you.", + "Employ the left arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Pick the small payment stand with black base up and turn its QR code toward you using the left arm.", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Lift the small payment stand with black base and rotate it until the QR code faces you.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Use the left arm to lift the tabletop-sized payment sign from the table and face the qrcode.", + "Take the payment sign with angled face, lift it, and orient it so the QR faces you", + "Lift the tabletop-sized payment sign from the table, turning it QR code forward.", + "Grab the black base with tilted gray panel, pick it up, and turn its qrcode toward you.", + "Catch the gray top with QR code with the left arm, then rotate it to make the QR code visible.", + "Catch and lift the triangular stand with QR code, then turn it to show the QR code.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Use the left arm to lift the triangular stand with QR code and rotate it QR code toward you.", + "Lift the triangular stand with QR code with the left arm, then rotate it to make the qrcode visible.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Use the left arm to grab the gray top with QR code, lift, and turn it QR code forward", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Grab the green payment logo on gray top, lift it from the table, and rotate it QR front", + "Slide the small black stand for payments off the table and turn it to face you.", + "Use the left arm to grab the green payment logo on gray top and point its QR code toward you.", + "Using the left arm, catch the payment sign with green logo and rotate it to face the QR code.", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Catch the triangular stand with QR code, raise it, and turn it so the QR code faces you", + "Catch the slanted gray panel for QR code scan, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the small payment stand with black base and rotate QR code towards you.", + "Catch the gray top with QR code, lift it, and turn the qrcode towards you.", + "Grab the gray top with QR code with the left arm, then rotate it to face yourself.", + "Use the left arm to take the small payment stand with black base and turn it until the QR code faces you", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the triangular stand with QR code, rotate, and face the QR code towards you.", + "Lift the black base with tilted gray panel and rotate for its qrcode to face you.", + "Locate the tabletop-sized payment sign, pick it up, and adjust its angle.", + "Catch the black base with tilted gray panel, lift it, and rotate it QR code facing.", + "Catch the gray slanted panel with text, pick it up, and rotate to show the QR code.", + "Use the left arm to pick the small black stand for payments and turn it towards you.", + "Grab the black base with tilted gray panel using the left arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign and orient its QR code toward you with the left arm.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Lift the tabletop-sized payment sign from the table and turn it to face you.", + "Use the left arm to grab the triangular stand with QR code and rotate it until the QR faces forward", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Grab the green payment logo on gray top using the left arm, then rotate the QR code to face forward.", + "Lift the payment sign with angled face from the table and rotate it towards you", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Pick the gray slanted panel with text up, then rotate to make its qrcode visible.", + "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Pick the gray top with QR code up and turn its QR code toward you using the left arm.", + "Catch the gray slanted panel with text, pick it up, and rotate to view the qrcode.", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Use the left arm to lift the payment sign with green logo from the table and face the qrcode.", + "Take the payment sign with angled face, lift it, and orient it so the QR faces you", + "Lift the paymentsign from the table, turning it QR code forward.", + "Grab the green payment logo on gray top, pick it up, and turn its qrcode toward you.", + "Catch the gray slanted panel with text with the left arm, then rotate it to make the QR code visible.", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Catch the small black stand for payments, lift it, and adjust its QR code to face you.", + "Use the left arm to lift the payment sign with green logo and rotate it QR code toward you.", + "Lift the small payment stand with black base with the left arm, then rotate it to make the qrcode visible.", + "Find the small black stand for payments, grab it, and turn it towards yourself.", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you.", + "Use the left arm to grab the black base with tilted gray panel, lift, and turn it QR code forward", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Grab the gray slanted panel with text, lift it from the table, and rotate it QR front", + "Slide the paymentsign off the table and turn it to face you.", + "Use the left arm to grab the black base with tilted gray panel and point its QR code toward you.", + "Using the left arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Catch the tabletop-sized payment sign, raise it, and turn it so the QR code faces you", + "Catch the small black stand for payments, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the green payment logo on gray top and rotate QR code towards you.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Grab the slanted gray panel for QR code scan with the left arm, then rotate it to face yourself.", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Grab the small payment stand with black base using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the payment sign with green logo, rotate, and face the QR code towards you.", + "Lift the gray slanted panel with text and rotate for its qrcode to face you.", + "Locate the gray slanted panel with text, pick it up, and adjust its angle.", + "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to pick the slanted gray panel for QR code scan and turn it towards you.", + "Grab the small payment stand with black base using the left arm, lift, and rotate until QR code faces you.", + "Lift the payment sign with angled face and orient its QR code toward you with the left arm.", + "Lift the gray slanted panel with text and rotate until its qrcode faces you.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Take the green payment logo on gray top, raise it, and make the qrcode face you." + ], + "unseen": [ + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode28.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..bf6a60085586a6b33e9fb1f78a8e412c420e183a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Locate the rectangular paymentsign with colorful top, pick it up, and adjust its angle.", + "Take the rectangular paymentsign with colorful top from the table, rotating it QR code toward you.", + "Catch the paymentsign with tilted rectangular panel, lift, and rotate to align the qrcode to you.", + "Find the beige paymentsign with printed details, grab it, and turn it towards yourself.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the right arm.", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the right arm.", + "Lift the smooth beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.", + "Pick the compact paymentsign for scanning payments up, then rotate to make its qrcode visible.", + "Employ the right arm to seize the beige paymentsign, raise it, and rotate it QR-forward", + "Take the beige paymentsign, lift it, and orient it so the QR faces you", + "Grab the paymentsign with tilted rectangular panel using the right arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign with blue and white text from the table, turning it QR code forward.", + "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you", + "Grab the QR code paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Pick up the small paymentsign for mobile payments and adjust its position to face the qrcode towards you.", + "Catch the beige paymentsign with the right arm, then rotate it to make the QR code visible.", + "Slide the compact paymentsign for scanning payments off the table and turn it to face you.", + "Lift the beige paymentsign and rotate until its qrcode faces you.", + "Grab the beige paymentsign with printed details using the right arm, lift, and rotate until QR code faces you.", + "Grab the smooth beige paymentsign, lift it from the table, and rotate it QR front", + "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.", + "Grab the paymentsign with blue and white text using the right arm, then rotate the QR code to face forward.", + "Lift the QR code paymentsign from the table and rotate it so the code faces you.", + "Use the right arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Use the right arm to grab the paymentsign with blue and white text and rotate QR code towards you.", + "Catch the paymentsign showing QR code label using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to lift the QR code paymentsign and rotate it QR code toward you.", + "Use the right arm to grab the beige paymentsign with printed details and rotate it until the QR faces forward", + "Lift the rectangular paymentsign with colorful top from the table and turn it to face you.", + "Use the right arm to grab the paymentsign showing QR code label, lift, and turn it QR code forward", + "Lift the QR code paymentsign from the table and rotate it towards you", + "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Catch the paymentsign showing QR code label, pick it up, and rotate to show the QR code.", + "Catch the smooth beige paymentsign off the table and rotate its qrcode to you.", + "Pick the paymentsign showing QR code label up, rotate it, and ensure the QR code faces you.", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.", + "Use the right arm to lift the paymentsign with tilted rectangular panel from the table and face the qrcode.", + "Use the right arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Grab the beige paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to take the QR code paymentsign and turn it until the QR code faces you", + "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Using the right arm, catch the beige paymentsign and rotate it to face the QR code.", + "Catch the rectangular paymentsign with colorful top, lift it, and rotate it QR code facing.", + "Use the right arm to grab the small paymentsign for mobile payments and point its QR code toward you.", + "Locate the QR code paymentsign, pick it up, and adjust its angle.", + "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.", + "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.", + "Find the beige paymentsign, grab it, and turn it towards yourself.", + "Pick the small paymentsign for mobile payments up and turn its QR code toward you using the right arm.", + "Lift the stand-up paymentsign with rectangular top and orient its QR code toward you with the right arm.", + "Lift the compact paymentsign for scanning payments with the right arm, then rotate it to make the qrcode visible.", + "Catch and lift the QR code paymentsign, then turn it to show the QR code.", + "Pick the beige paymentsign up, then rotate to make its qrcode visible.", + "Employ the right arm to seize the smooth beige paymentsign, raise it, and rotate it QR-forward", + "Take the paymentsign with blue and white text, lift it, and orient it so the QR faces you", + "Grab the beige paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.", + "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you", + "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.", + "Use the right arm to pick the stand-up paymentsign with rectangular top and turn it towards you.", + "Pick up the compact paymentsign for scanning payments and adjust its position to face the qrcode towards you.", + "Catch the small paymentsign for mobile payments with the right arm, then rotate it to make the QR code visible.", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Lift the rectangular paymentsign with colorful top and rotate until its qrcode faces you.", + "Grab the stand-up paymentsign with rectangular top using the right arm, lift, and rotate until QR code faces you.", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Take the QR code paymentsign, raise it, and make the qrcode face you.", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate the QR code to face forward.", + "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.", + "Use the right arm to grab the paymentsign resting on angled base, rotate, and face the QR code towards you.", + "Use the right arm to grab the beige paymentsign and rotate QR code towards you.", + "Catch the smooth beige paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to lift the QR code paymentsign and rotate it QR code toward you.", + "Use the right arm to grab the beige paymentsign with printed details and rotate it until the QR faces forward", + "Lift the smooth beige paymentsign from the table and turn it to face you.", + "Use the right arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.", + "Catch the rectangular paymentsign with colorful top off the table and rotate its qrcode to you.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and adjust its QR code to face you.", + "Use the right arm to lift the rectangular paymentsign with colorful top from the table and face the qrcode.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.", + "Grab the paymentsign with blue and white text with the right arm, then rotate it to face yourself.", + "Use the right arm to take the QR code paymentsign and turn it until the QR code faces you", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Lift the compact paymentsign for scanning payments and rotate for its qrcode to face you.", + "Using the right arm, catch the paymentsign showing QR code label and rotate it to face the QR code.", + "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.", + "Use the right arm to grab the paymentsign showing QR code label and point its QR code toward you." + ], + "unseen": [ + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode29.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..1dae3e9b41a06b1845be9e00bccfac45edc63483 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to take the paymentsign with QR code area and turn it until the QR code faces you", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate the qrcode to face you.", + "Catch the white rectangular paymentsign with yellow details, raise it, and turn it so the QR code faces you", + "Catch the paymentsign with QR code area, lift it, and turn the qrcode towards you.", + "Pick up the white stand sign and rotate it so the QR code faces you", + "Lift the sign with yellow payment section and rotate until its qrcode faces you.", + "Catch and lift the white rectangular paymentsign with yellow details, then turn it to show the QR code.", + "Take the paymentsign with QR code area from the table, rotating it QR code toward you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Grab the yellow panel white paymentsign, lift it from the table, and rotate it QR front", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Pick the white rectangular paymentsign with yellow details up and turn its QR code toward you using the left arm.", + "Lift the white stand sign from the table and rotate it so the code faces you.", + "Catch the yellow panel white paymentsign off the table and rotate its qrcode to you.", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the white stand sign, rotate, and face the QR code towards you.", + "Employ the left arm to seize the plastic smooth paymentsign, raise it, and rotate it QR-forward", + "Locate the white rectangular paymentsign with yellow details, pick it up, and adjust its angle.", + "Pick the white paymentsign with raised base up, rotate it, and ensure the QR code faces you.", + "Grab the tabletop paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the paymentsign from the table and face the qrcode.", + "Use the left arm to grab the yellow panel white paymentsign and point its QR code toward you.", + "Slide the smooth plastic paymentsign with QR code off the table and turn it to face you.", + "Grab the sign with yellow payment section using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to pick the sign with yellow payment section and turn it towards you.", + "Use the left arm to lift the yellow and white payment display and rotate it QR code toward you.", + "Lift the rectangular paymentsign with stand and rotate it until the QR code faces you.", + "Catch the white stand sign, lift it, and adjust its QR code to face you.", + "Find the plastic smooth paymentsign, grab it, and turn it towards yourself.", + "Grab the yellow panel white paymentsign, pick it up, and turn its qrcode toward you.", + "Take the yellow panel white paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Grab the smooth plastic paymentsign with QR code using the left arm, then rotate the QR code to face forward.", + "Grab the white stand sign with the left arm, then rotate it to face yourself.", + "Catch the white rectangular paymentsign with yellow details using the left arm, pick it up, and turn it to face the QR code.", + "Catch the plastic smooth paymentsign, lift it, and rotate it QR code facing.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Catch the smooth plastic paymentsign with QR code, lift, and rotate to align the qrcode to you.", + "Lift the white stand sign and orient its QR code toward you with the left arm.", + "Pick the smooth plastic paymentsign with QR code up, then rotate to make its qrcode visible.", + "Catch the smooth plastic paymentsign with QR code with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the rectangular paymentsign with stand and rotate QR code towards you.", + "Catch the sign with yellow payment section, pick it up, and rotate to view the qrcode.", + "Lift the white stand sign from the table, turning it QR code forward.", + "Lift the white paymentsign with raised base from the table and rotate it towards you", + "Lift the smooth plastic paymentsign with QR code with the left arm, then rotate it to make the qrcode visible.", + "Using the left arm, catch the plastic smooth paymentsign and rotate it to face the QR code.", + "Use the left arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Use the left arm to take the smooth plastic paymentsign with QR code and turn it until the QR code faces you", + "Lift the smooth plastic paymentsign with QR code and rotate for its qrcode to face you.", + "Use the left arm to grab the plastic smooth paymentsign and rotate the qrcode to face you.", + "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you", + "Catch the smooth plastic paymentsign with QR code, lift it, and turn the qrcode towards you.", + "Pick up the paymentsign with QR code area and rotate it so the QR code faces you", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Catch and lift the smooth plastic paymentsign with QR code, then turn it to show the QR code.", + "Take the yellow panel white paymentsign from the table, rotating it QR code toward you.", + "Catch the sign with yellow payment section, pick it up, and rotate to show the QR code.", + "Grab the white paymentsign with raised base, lift it from the table, and rotate it QR front", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Pick the sign with yellow payment section up and turn its QR code toward you using the left arm.", + "Lift the rectangular paymentsign with stand from the table and rotate it so the code faces you.", + "Catch the yellow and white payment display off the table and rotate its qrcode to you.", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the paymentsign with QR code area, rotate, and face the QR code towards you.", + "Employ the left arm to seize the white paymentsign with raised base, raise it, and rotate it QR-forward", + "Locate the yellow and white payment display, pick it up, and adjust its angle.", + "Pick the yellow and white payment display up, rotate it, and ensure the QR code faces you.", + "Grab the smooth plastic paymentsign with QR code using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the yellow panel white paymentsign from the table and face the qrcode.", + "Use the left arm to grab the tabletop paymentsign and point its QR code toward you.", + "Slide the paymentsign with QR code area off the table and turn it to face you.", + "Grab the yellow and white payment display using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to pick the paymentsign with QR code area and turn it towards you.", + "Use the left arm to lift the yellow and white payment display and rotate it QR code toward you.", + "Lift the white rectangular paymentsign with yellow details and rotate it until the QR code faces you.", + "Catch the plastic smooth paymentsign, lift it, and adjust its QR code to face you.", + "Find the white stand sign, grab it, and turn it towards yourself.", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Take the plastic smooth paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to grab the yellow panel white paymentsign and rotate it until the QR faces forward", + "Lift the rectangular paymentsign with stand from the table and turn it to face you.", + "Grab the yellow and white payment display using the left arm, then rotate the QR code to face forward.", + "Grab the paymentsign with QR code area with the left arm, then rotate it to face yourself.", + "Catch the tabletop paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the sign with yellow payment section, lift it, and rotate it QR code facing.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Catch the sign with yellow payment section, lift, and rotate to align the qrcode to you.", + "Lift the plastic smooth paymentsign and orient its QR code toward you with the left arm.", + "Pick the white rectangular paymentsign with yellow details up, then rotate to make its qrcode visible.", + "Catch the tabletop paymentsign with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the rectangular paymentsign with stand and rotate QR code towards you.", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the yellow panel white paymentsign from the table, turning it QR code forward.", + "Lift the paymentsign from the table and rotate it towards you", + "Lift the white paymentsign with raised base with the left arm, then rotate it to make the qrcode visible.", + "Using the left arm, catch the white rectangular paymentsign with yellow details and rotate it to face the QR code.", + "Use the left arm to grab the plastic smooth paymentsign, lift, and turn it QR code forward" + ], + "unseen": [ + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode3.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..1872b2e48b713a9356b37e847264933e37c5cfa8 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the paymentsign showing QR code label and orient its QR code toward you with the left arm.", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Lift the beige paymentsign from the table, turning it QR code forward.", + "Locate the rectangular paymentsign with colorful top, pick it up, and adjust its angle.", + "Use the left arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Use the left arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.", + "Slide the smooth beige paymentsign off the table and turn it to face you.", + "Take the smooth beige paymentsign from the table, rotating it QR code toward you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and turn the qrcode towards you.", + "Catch the paymentsign with tilted rectangular panel off the table and rotate its qrcode to you.", + "Grab the compact paymentsign for scanning payments using the left arm, then rotate it until the qrcode faces you.", + "Using the left arm, catch the paymentsign showing QR code label and rotate it to face the QR code.", + "Use the left arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.", + "Use the left arm to pick the stand-up paymentsign with rectangular top and turn it towards you.", + "Use the left arm to lift the rectangular paymentsign with colorful top from the table and face the qrcode.", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Grab the rectangular paymentsign with colorful top using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Lift the smooth beige paymentsign and rotate it until the QR code faces you.", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Catch the paymentsign resting on angled base with the left arm, then rotate it to make the QR code visible.", + "Catch the paymentsign with tilted rectangular panel, lift it, and adjust its QR code to face you.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Lift the beige paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Lift the beige paymentsign from the table and turn it to face you.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the compact paymentsign for scanning payments and rotate QR code towards you.", + "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate the qrcode to face you.", + "Grab the paymentsign resting on angled base using the left arm, then rotate the QR code to face forward.", + "Lift the paymentsign showing QR code label from the table and rotate it so the code faces you.", + "Pick the QR code paymentsign up and turn its QR code toward you using the left arm.", + "Catch the stand-up paymentsign with rectangular top, raise it, and turn it so the QR code faces you", + "Grab the compact paymentsign for scanning payments with the left arm, then rotate it to face yourself.", + "Take the smooth beige paymentsign, raise it, and make the qrcode face you.", + "Take the paymentsign with blue and white text, lift it, and orient it so the QR faces you", + "Grab the rectangular paymentsign with colorful top, lift it from the table, and rotate it QR front", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Catch the stand-up paymentsign with rectangular top, lift it, and rotate it QR code facing.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the paymentsign showing QR code label and rotate it until the QR faces forward", + "Catch the rectangular paymentsign with colorful top using the left arm, pick it up, and turn it to face the QR code.", + "Catch and lift the paymentsign with tilted rectangular panel, then turn it to show the QR code.", + "Use the left arm to grab the paymentsign resting on angled base, lift, and turn it QR code forward", + "Grab the compact paymentsign for scanning payments, pick it up, and turn its qrcode toward you.", + "Employ the left arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Lift the paymentsign showing QR code label from the table and rotate it towards you", + "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.", + "Pick up the paymentsign showing QR code label and rotate it so the QR code faces you", + "Lift the QR code paymentsign and orient its QR code toward you with the left arm.", + "Lift the smooth beige paymentsign from the surface and adjust its angle towards you", + "Lift the beige paymentsign with printed details from the table, turning it QR code forward.", + "Locate the rectangular paymentsign with colorful top, pick it up, and adjust its angle.", + "Use the left arm to take the stand-up paymentsign with rectangular top and turn it until the QR code faces you", + "Use the left arm to grab the small paymentsign for mobile payments and point its QR code toward you.", + "Slide the QR code paymentsign off the table and turn it to face you.", + "Take the smooth beige paymentsign from the table, rotating it QR code toward you.", + "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.", + "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.", + "Grab the rectangular paymentsign with colorful top using the left arm, then rotate it until the qrcode faces you.", + "Using the left arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Use the left arm to grab the paymentsign showing QR code label, rotate, and face the QR code towards you.", + "Use the left arm to pick the small paymentsign for mobile payments and turn it towards you.", + "Use the left arm to lift the beige paymentsign with printed details from the table and face the qrcode.", + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Grab the paymentsign with blue and white text using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Lift the compact paymentsign for scanning payments and rotate it until the QR code faces you.", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Catch the beige paymentsign with the left arm, then rotate it to make the QR code visible.", + "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign resting on angled base with the left arm, then rotate it to make the qrcode visible.", + "Lift the paymentsign with tilted rectangular panel from the table and turn it to face you.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.", + "Pick the QR code paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the beige paymentsign and rotate the qrcode to face you.", + "Grab the paymentsign with tilted rectangular panel using the left arm, then rotate the QR code to face forward.", + "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.", + "Pick the beige paymentsign up and turn its QR code toward you using the left arm.", + "Catch the paymentsign with tilted rectangular panel, raise it, and turn it so the QR code faces you", + "Grab the small paymentsign for mobile payments with the left arm, then rotate it to face yourself.", + "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.", + "Take the paymentsign with blue and white text, lift it, and orient it so the QR faces you", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Lift the beige paymentsign and rotate for its qrcode to face you.", + "Catch the beige paymentsign, lift it, and rotate it QR code facing.", + "Catch the QR code paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward", + "Catch the beige paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch and lift the paymentsign resting on angled base, then turn it to show the QR code.", + "Use the left arm to grab the paymentsign resting on angled base, lift, and turn it QR code forward", + "Grab the QR code paymentsign, pick it up, and turn its qrcode toward you.", + "Employ the left arm to seize the smooth beige paymentsign, raise it, and rotate it QR-forward", + "Lift the paymentsign with blue and white text from the table and rotate it towards you", + "Lift the beige paymentsign and rotate until its qrcode faces you.", + "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you" + ], + "unseen": [ + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode30.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..e35e76557a6dcaa0ff9d59fb4ea8fc5af9ecd28c --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small paymentsign with stand using the left arm, then rotate the QR code to face forward.", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Pick the blue and white rectangular paymentsign up, then rotate to make its qrcode visible.", + "Catch the smooth surface paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to pick the blue and white rectangular paymentsign and turn it towards you.", + "Lift the paymentsign for scanning QR codes from the table and rotate it so the code faces you.", + "Use the left arm to grab the paymentsign with glossy blue panel, lift, and turn it QR code forward", + "Catch the paymentsign with angled black stand, lift it, and rotate it QR code facing.", + "Use the left arm to grab the paymentsign with angled black stand and point its QR code toward you.", + "Use the left arm to lift the smooth surface paymentsign from the table and face the qrcode.", + "Catch the rectangular plastic paymentsign with codes, lift it, and turn the qrcode towards you.", + "Lift the paymentsign with glossy blue panel from the surface and adjust its angle towards you", + "Catch the rectangular plastic paymentsign, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign with glossy blue panel from the table and rotate it towards you", + "Use the left arm to grab the blue and white rectangular paymentsign and rotate the qrcode to face you.", + "Take the small glossy paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to lift the paymentsign with printed QR codes and rotate it QR code toward you.", + "Use the left arm to grab the rectangular plastic paymentsign, rotate, and face the QR code towards you.", + "Catch the paymentsign with angled black stand, lift it, and adjust its QR code to face you.", + "Take the blue and white paymentsign from the table, rotating it QR code toward you.", + "Lift the rectangular plastic paymentsign from the table and turn it to face you.", + "Employ the left arm to seize the paymentsign with printed QR codes, raise it, and rotate it QR-forward", + "Lift the rectangular plastic paymentsign with codes and orient its QR code toward you with the left arm.", + "Pick up the small glossy paymentsign and adjust its position to face the qrcode towards you.", + "Grab the paymentsign with glossy blue panel, lift it from the table, and rotate it QR front", + "Lift the small glossy paymentsign and rotate it until the QR code faces you.", + "Grab the blue and white paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign with printed QR codes and rotate for its qrcode to face you.", + "Catch the paymentsign with printed QR codes off the table and rotate its qrcode to you.", + "Use the left arm to grab the rectangular plastic paymentsign and rotate QR code towards you.", + "Using the left arm, catch the small paymentsign with stand and rotate it to face the QR code.", + "Take the paymentsign with angled black stand, lift it, and orient it so the QR faces you", + "Catch the blue and white rectangular paymentsign with the left arm, then rotate it to make the QR code visible.", + "Grab the paymentsign for scanning QR codes using the left arm, then rotate it until the qrcode faces you.", + "Pick up the paymentsign with printed QR codes and rotate it so the QR code faces you", + "Use the left arm to grab the rectangular plastic paymentsign and rotate it until the QR faces forward", + "Lift the paymentsign with printed QR codes from the table, turning it QR code forward.", + "Catch the blue and white rectangular paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with printed QR codes, lift, and rotate to align the qrcode to you.", + "Grab the blue and white rectangular paymentsign with the left arm, then rotate it to face yourself.", + "Lift the paymentsign for scanning QR codes with the left arm, then rotate it to make the qrcode visible.", + "Slide the blue and white paymentsign off the table and turn it to face you.", + "Catch the paymentsign with printed QR codes, raise it, and turn it so the QR code faces you", + "Find the rectangular plastic paymentsign with codes, grab it, and turn it towards yourself.", + "Lift the blue and white rectangular paymentsign and rotate until its qrcode faces you.", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Catch and lift the blue and white rectangular paymentsign, then turn it to show the QR code.", + "Use the left arm to take the small glossy paymentsign and turn it until the QR code faces you", + "Pick the small paymentsign with stand up and turn its QR code toward you using the left arm.", + "Grab the tabletop paymentsign using the left arm, then rotate the QR code to face forward.", + "Pick the blue and white paymentsign up, rotate it, and ensure the QR code faces you.", + "Pick the blue and white rectangular paymentsign up, then rotate to make its qrcode visible.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to show the QR code.", + "Use the left arm to pick the small glossy paymentsign and turn it towards you.", + "Lift the tabletop paymentsign from the table and rotate it so the code faces you.", + "Use the left arm to grab the paymentsign for scanning QR codes, lift, and turn it QR code forward", + "Catch the blue and white paymentsign, lift it, and rotate it QR code facing.", + "Use the left arm to grab the paymentsign for scanning QR codes and point its QR code toward you.", + "Use the left arm to lift the paymentsign with glossy blue panel from the table and face the qrcode.", + "Catch the small glossy paymentsign, lift it, and turn the qrcode towards you.", + "Lift the rectangular plastic paymentsign from the surface and adjust its angle towards you", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to view the qrcode.", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it towards you", + "Use the left arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Take the rectangular plastic paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to lift the blue and white paymentsign and rotate it QR code toward you.", + "Use the left arm to grab the small paymentsign with stand, rotate, and face the QR code towards you.", + "Catch the paymentsign for scanning QR codes, lift it, and adjust its QR code to face you.", + "Take the paymentsign with glossy blue panel from the table, rotating it QR code toward you.", + "Lift the smooth surface paymentsign from the table and turn it to face you.", + "Employ the left arm to seize the paymentsign for scanning QR codes, raise it, and rotate it QR-forward", + "Lift the paymentsign for scanning QR codes and orient its QR code toward you with the left arm.", + "Pick up the paymentsign with glossy blue panel and adjust its position to face the qrcode towards you.", + "Grab the small paymentsign with stand, lift it from the table, and rotate it QR front", + "Lift the smooth surface paymentsign and rotate it until the QR code faces you.", + "Grab the paymentsign with glossy blue panel using the left arm, lift, and rotate until QR code faces you.", + "Lift the blue and white rectangular paymentsign and rotate for its qrcode to face you.", + "Catch the blue and white paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to grab the paymentsign with printed QR codes and rotate QR code towards you.", + "Using the left arm, catch the rectangular plastic paymentsign with codes and rotate it to face the QR code.", + "Take the smooth surface paymentsign, lift it, and orient it so the QR faces you", + "Catch the blue and white paymentsign with the left arm, then rotate it to make the QR code visible.", + "Grab the paymentsign with glossy blue panel using the left arm, then rotate it until the qrcode faces you.", + "Pick up the smooth surface paymentsign and rotate it so the QR code faces you", + "Use the left arm to grab the paymentsign with glossy blue panel and rotate it until the QR faces forward", + "Lift the blue and white paymentsign from the table, turning it QR code forward.", + "Catch the smooth surface paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with angled black stand, lift, and rotate to align the qrcode to you.", + "Grab the paymentsign with angled black stand with the left arm, then rotate it to face yourself.", + "Lift the paymentsign for scanning QR codes with the left arm, then rotate it to make the qrcode visible.", + "Slide the paymentsign with angled black stand off the table and turn it to face you.", + "Catch the blue and white rectangular paymentsign, raise it, and turn it so the QR code faces you", + "Find the small paymentsign with stand, grab it, and turn it towards yourself.", + "Lift the rectangular plastic paymentsign with codes and rotate until its qrcode faces you.", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Locate the blue and white rectangular paymentsign, pick it up, and adjust its angle.", + "Catch and lift the rectangular plastic paymentsign with codes, then turn it to show the QR code.", + "Use the left arm to take the small paymentsign with stand and turn it until the QR code faces you", + "Pick the rectangular plastic paymentsign up and turn its QR code toward you using the left arm." + ], + "unseen": [ + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode31.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..4a0b14537302b2cc583f8dba2aba470c5f992125 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch and lift the green payment logo on gray top, then turn it to show the QR code.", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Lift the slanted gray panel for QR code scan from the table and rotate it so the code faces you.", + "Use the left arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Grab the small black stand for payments using the left arm, then rotate it until the qrcode faces you.", + "Catch the gray top with QR code, lift it, and turn the qrcode towards you.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate it until the QR faces forward", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Using the left arm, catch the triangular stand with QR code and rotate it to face the QR code.", + "Grab the gray top with QR code using the left arm, lift, and rotate until QR code faces you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Grab the gray top with QR code with the left arm, then rotate it to face yourself.", + "Lift the triangular stand with QR code and orient its QR code toward you with the left arm.", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Use the left arm to lift the payment sign with green logo from the table and face the qrcode.", + "Lift the payment sign with green logo and rotate for its qrcode to face you.", + "Catch the small payment stand with black base with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to take the gray top with QR code and turn it until the QR code faces you", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Grab the tabletop-sized payment sign, pick it up, and turn its qrcode toward you.", + "Lift the slanted gray panel for QR code scan from the table, turning it QR code forward.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Catch the green payment logo on gray top off the table and rotate its qrcode to you.", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Lift the tabletop-sized payment sign with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the green payment logo on gray top and point its QR code toward you.", + "Pick up the tabletop-sized payment sign and rotate it so the QR code faces you", + "Use the left arm to grab the small black stand for payments and rotate the qrcode to face you.", + "Employ the left arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Use the left arm to pick the tabletop-sized payment sign and turn it towards you.", + "Pick up the tabletop-sized payment sign and adjust its position to face the qrcode towards you.", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Lift the payment sign with angled face and rotate it until the QR code faces you.", + "Use the left arm to grab the green payment logo on gray top and rotate QR code towards you.", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Grab the slanted gray panel for QR code scan using the left arm, then rotate the QR code to face forward.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Pick the small black stand for payments up, rotate it, and ensure the QR code faces you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it towards you", + "Take the gray slanted panel with text, lift it, and orient it so the QR faces you", + "Catch the gray top with QR code, raise it, and turn it so the QR code faces you", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Lift the green payment logo on gray top from the surface and adjust its angle towards you", + "Find the tabletop-sized payment sign, grab it, and turn it towards yourself.", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.", + "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.", + "Catch and lift the green payment logo on gray top, then turn it to show the QR code.", + "Pick the green payment logo on gray top up, then rotate to make its qrcode visible.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Use the left arm to grab the payment sign with angled face, rotate, and face the QR code towards you.", + "Grab the gray slanted panel with text using the left arm, then rotate it until the qrcode faces you.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate it until the QR faces forward", + "Grab the slanted gray panel for QR code scan, lift it from the table, and rotate it QR front", + "Using the left arm, catch the triangular stand with QR code and rotate it to face the QR code.", + "Grab the black base with tilted gray panel using the left arm, lift, and rotate until QR code faces you.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Grab the paymentsign with the left arm, then rotate it to face yourself.", + "Lift the gray slanted panel with text and orient its QR code toward you with the left arm.", + "Use the left arm to lift the slanted gray panel for QR code scan and rotate it QR code toward you.", + "Use the left arm to lift the gray slanted panel with text from the table and face the qrcode.", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Catch the gray slanted panel with text with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to take the gray top with QR code and turn it until the QR code faces you", + "Lift the payment sign with green logo from the table and turn it to face you.", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Lift the payment sign with green logo from the table, turning it QR code forward.", + "Catch the payment sign with angled face, lift it, and rotate it QR code facing.", + "Catch the payment sign with green logo off the table and rotate its qrcode to you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the black base with tilted gray panel and point its QR code toward you.", + "Pick up the triangular stand with QR code and rotate it so the QR code faces you", + "Use the left arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Employ the left arm to seize the payment sign with green logo, raise it, and rotate it QR-forward", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the gray slanted panel with text, lift, and turn it QR code forward", + "Use the left arm to pick the tabletop-sized payment sign and turn it towards you.", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Catch the payment sign with green logo using the left arm, pick it up, and turn it to face the QR code.", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Use the left arm to grab the small payment stand with black base and rotate QR code towards you.", + "Catch the small black stand for payments, lift it, and adjust its QR code to face you.", + "Grab the tabletop-sized payment sign using the left arm, then rotate the QR code to face forward.", + "Catch the small payment stand with black base, lift, and rotate to align the qrcode to you.", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Catch the tabletop-sized payment sign, raise it, and turn it so the QR code faces you", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Slide the small black stand for payments off the table and turn it to face you.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Find the small black stand for payments, grab it, and turn it towards yourself.", + "Catch the tabletop-sized payment sign, pick it up, and rotate to show the QR code.", + "Lift the green payment logo on gray top and rotate until its qrcode faces you." + ], + "unseen": [ + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode32.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..4d6423f3bb4595b12f6ee5fc5cc43866bd69f427 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the paymentsign with QR code area, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the rectangular paymentsign with stand, rotate, and face the QR code towards you.", + "Grab the rectangular paymentsign with stand, lift it from the table, and rotate it QR front", + "Using the left arm, catch the white stand sign and rotate it to face the QR code.", + "Lift the rectangular paymentsign with stand and rotate it until the QR code faces you.", + "Find the plastic smooth paymentsign, grab it, and turn it towards yourself.", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Lift the white stand sign and rotate for its qrcode to face you.", + "Lift the white stand sign from the table and rotate it so the code faces you.", + "Take the rectangular paymentsign with stand, raise it, and make the qrcode face you.", + "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the white rectangular paymentsign with yellow details and orient its QR code toward you with the left arm.", + "Pick the plastic smooth paymentsign up, rotate it, and ensure the QR code faces you.", + "Locate the smooth plastic paymentsign with QR code, pick it up, and adjust its angle.", + "Catch the white rectangular paymentsign with yellow details with the left arm, then rotate it to make the QR code visible.", + "Catch and lift the yellow and white payment display, then turn it to show the QR code.", + "Grab the yellow and white payment display using the left arm, then rotate the QR code to face forward.", + "Grab the tabletop paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Lift the white stand sign from the table, turning it QR code forward.", + "Catch the sign with yellow payment section, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Catch the smooth plastic paymentsign with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Employ the left arm to seize the white stand sign, raise it, and rotate it QR-forward", + "Slide the smooth plastic paymentsign with QR code off the table and turn it to face you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and rotate it QR code facing.", + "Grab the white paymentsign with raised base using the left arm, then rotate it until the qrcode faces you.", + "Lift the tabletop paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to pick the yellow and white payment display and turn it towards you.", + "Catch the sign with yellow payment section, lift it, and adjust its QR code to face you.", + "Lift the paymentsign from the table and rotate it towards you", + "Pick the paymentsign with QR code area up and turn its QR code toward you using the left arm.", + "Grab the white paymentsign with raised base with the left arm, then rotate it to face yourself.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the sign with yellow payment section, lift, and turn it QR code forward", + "Use the left arm to grab the smooth plastic paymentsign with QR code and point its QR code toward you.", + "Catch the white paymentsign with raised base, lift, and rotate to align the qrcode to you.", + "Lift the yellow and white payment display from the table and turn it to face you.", + "Use the left arm to take the rectangular paymentsign with stand and turn it until the QR code faces you", + "Pick up the white paymentsign with raised base and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Use the left arm to lift the white rectangular paymentsign with yellow details from the table and face the qrcode.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Use the left arm to grab the yellow and white payment display and rotate QR code towards you.", + "Use the left arm to grab the white stand sign and rotate it until the QR faces forward", + "Pick up the smooth plastic paymentsign with QR code and rotate it so the QR code faces you", + "Pick the smooth plastic paymentsign with QR code up, then rotate to make its qrcode visible.", + "Take the white rectangular paymentsign with yellow details from the table, rotating it QR code toward you.", + "Take the yellow panel white paymentsign, lift it, and orient it so the QR faces you", + "Lift the yellow and white payment display and rotate until its qrcode faces you.", + "Catch the yellow and white payment display, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the plastic smooth paymentsign, rotate, and face the QR code towards you.", + "Grab the white rectangular paymentsign with yellow details, lift it from the table, and rotate it QR front", + "Using the left arm, catch the white stand sign and rotate it to face the QR code.", + "Lift the paymentsign with QR code area and rotate it until the QR code faces you.", + "Find the smooth plastic paymentsign with QR code, grab it, and turn it towards yourself.", + "Catch the sign with yellow payment section off the table and rotate its qrcode to you.", + "Lift the white rectangular paymentsign with yellow details and rotate for its qrcode to face you.", + "Lift the sign with yellow payment section from the table and rotate it so the code faces you.", + "Take the white paymentsign with raised base, raise it, and make the qrcode face you.", + "Catch the tabletop paymentsign, raise it, and turn it so the QR code faces you", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the smooth plastic paymentsign with QR code and orient its QR code toward you with the left arm.", + "Pick the yellow and white payment display up, rotate it, and ensure the QR code faces you.", + "Locate the plastic smooth paymentsign, pick it up, and adjust its angle.", + "Catch the smooth plastic paymentsign with QR code with the left arm, then rotate it to make the QR code visible.", + "Catch and lift the plastic smooth paymentsign, then turn it to show the QR code.", + "Grab the rectangular paymentsign with stand using the left arm, then rotate the QR code to face forward.", + "Grab the tabletop paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Lift the yellow and white payment display from the table, turning it QR code forward.", + "Catch the plastic smooth paymentsign, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the paymentsign with QR code area and rotate it QR code toward you.", + "Catch the smooth plastic paymentsign with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Employ the left arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Slide the white stand sign off the table and turn it to face you.", + "Catch the plastic smooth paymentsign, lift it, and rotate it QR code facing.", + "Grab the rectangular paymentsign with stand using the left arm, then rotate it until the qrcode faces you.", + "Lift the sign with yellow payment section with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to pick the yellow panel white paymentsign and turn it towards you.", + "Catch the white rectangular paymentsign with yellow details, lift it, and adjust its QR code to face you.", + "Lift the white paymentsign with raised base from the table and rotate it towards you", + "Pick the yellow panel white paymentsign up and turn its QR code toward you using the left arm.", + "Grab the yellow and white payment display with the left arm, then rotate it to face yourself.", + "Catch the white paymentsign with raised base, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the white paymentsign with raised base, lift, and turn it QR code forward", + "Use the left arm to grab the tabletop paymentsign and point its QR code toward you.", + "Catch the white rectangular paymentsign with yellow details, lift, and rotate to align the qrcode to you.", + "Lift the white paymentsign with raised base from the table and turn it to face you.", + "Use the left arm to take the sign with yellow payment section and turn it until the QR code faces you", + "Pick up the paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the yellow and white payment display and rotate the qrcode to face you.", + "Use the left arm to lift the white paymentsign with raised base from the table and face the qrcode.", + "Lift the white rectangular paymentsign with yellow details from the surface and adjust its angle towards you", + "Use the left arm to grab the plastic smooth paymentsign and rotate QR code towards you.", + "Use the left arm to grab the sign with yellow payment section and rotate it until the QR faces forward", + "Pick up the plastic smooth paymentsign and rotate it so the QR code faces you", + "Pick the rectangular paymentsign with stand up, then rotate to make its qrcode visible.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Lift the paymentsign and rotate until its qrcode faces you." + ], + "unseen": [ + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode33.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..e26321f29252cd0542b1dab4fea1ed182798f585 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the rectangular paymentsign with colorful top, lift it, and rotate it QR code facing.", + "Grab the beige paymentsign with printed details using the right arm, then rotate the QR code to face forward.", + "Use the right arm to take the compact paymentsign for scanning payments and turn it until the QR code faces you", + "Employ the right arm to seize the beige paymentsign with printed details, raise it, and rotate it QR-forward", + "Use the right arm to grab the small paymentsign for mobile payments, rotate, and face the QR code towards you.", + "Catch the paymentsign resting on angled base with the right arm, then rotate it to make the QR code visible.", + "Grab the paymentsign with tilted rectangular panel using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the QR code paymentsign and rotate QR code towards you.", + "Lift the smooth beige paymentsign from the table, turning it QR code forward.", + "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.", + "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.", + "Grab the small paymentsign for mobile payments, pick it up, and turn its qrcode toward you.", + "Find the paymentsign with blue and white text, grab it, and turn it towards yourself.", + "Grab the small paymentsign for mobile payments with the right arm, then rotate it to face yourself.", + "Catch the paymentsign with blue and white text, lift, and rotate to align the qrcode to you.", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Use the right arm to lift the small paymentsign for mobile payments from the table and face the qrcode.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward", + "Pick the rectangular paymentsign with colorful top up, then rotate to make its qrcode visible.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to show the QR code.", + "Lift the smooth beige paymentsign from the table and rotate it so the code faces you.", + "Use the right arm to lift the small paymentsign for mobile payments and rotate it QR code toward you.", + "Lift the small paymentsign for mobile payments from the table and rotate it towards you", + "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.", + "Catch the beige paymentsign with printed details, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the smooth beige paymentsign and point its QR code toward you.", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Grab the paymentsign with tilted rectangular panel using the right arm, lift, and rotate until QR code faces you.", + "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.", + "Take the paymentsign resting on angled base, raise it, and make the qrcode face you.", + "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign showing QR code label from the surface and adjust its angle towards you", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the QR code paymentsign and rotate the qrcode to face you.", + "Lift the beige paymentsign with printed details and rotate until its qrcode faces you.", + "Take the paymentsign resting on angled base, lift it, and orient it so the QR faces you", + "Lift the smooth beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Pick the rectangular paymentsign with colorful top up and turn its QR code toward you using the right arm.", + "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.", + "Catch and lift the beige paymentsign with printed details, then turn it to show the QR code.", + "Grab the smooth beige paymentsign, lift it from the table, and rotate it QR front", + "Using the right arm, catch the beige paymentsign with printed details and rotate it to face the QR code.", + "Lift the paymentsign with blue and white text from the table and turn it to face you.", + "Use the right arm to pick the smooth beige paymentsign and turn it towards you.", + "Catch the beige paymentsign, lift it, and adjust its QR code to face you.", + "Lift the stand-up paymentsign with rectangular top and orient its QR code toward you with the right arm.", + "Take the paymentsign with blue and white text from the table, rotating it QR code toward you.", + "Slide the paymentsign with blue and white text off the table and turn it to face you.", + "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.", + "Grab the smooth beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to take the paymentsign showing QR code label and turn it until the QR code faces you", + "Employ the right arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Use the right arm to grab the paymentsign with blue and white text, rotate, and face the QR code towards you.", + "Catch the paymentsign showing QR code label with the right arm, then rotate it to make the QR code visible.", + "Grab the beige paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Lift the beige paymentsign from the table, turning it QR code forward.", + "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.", + "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.", + "Grab the beige paymentsign with printed details, pick it up, and turn its qrcode toward you.", + "Find the small paymentsign for mobile payments, grab it, and turn it towards yourself.", + "Grab the beige paymentsign with printed details with the right arm, then rotate it to face yourself.", + "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Use the right arm to lift the small paymentsign for mobile payments from the table and face the qrcode.", + "Use the right arm to grab the small paymentsign for mobile payments, lift, and turn it QR code forward", + "Pick the paymentsign with blue and white text up, then rotate to make its qrcode visible.", + "Catch the paymentsign showing QR code label, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.", + "Use the right arm to lift the paymentsign with tilted rectangular panel and rotate it QR code toward you.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Catch the QR code paymentsign, lift it, and turn the qrcode towards you.", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the compact paymentsign for scanning payments and point its QR code toward you.", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Use the right arm to grab the paymentsign with blue and white text and rotate it until the QR faces forward", + "Grab the smooth beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Locate the paymentsign with tilted rectangular panel, pick it up, and adjust its angle.", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Catch the paymentsign with tilted rectangular panel using the right arm, pick it up, and turn it to face the QR code.", + "Lift the stand-up paymentsign with rectangular top from the surface and adjust its angle towards you", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate the qrcode to face you.", + "Lift the smooth beige paymentsign and rotate until its qrcode faces you.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Lift the beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the right arm.", + "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.", + "Catch and lift the QR code paymentsign, then turn it to show the QR code.", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Using the right arm, catch the beige paymentsign and rotate it to face the QR code.", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Use the right arm to pick the smooth beige paymentsign and turn it towards you.", + "Catch the beige paymentsign with printed details, lift it, and adjust its QR code to face you.", + "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the right arm.", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Slide the rectangular paymentsign with colorful top off the table and turn it to face you." + ], + "unseen": [ + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode34.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..f3fa900c7a734d5c0bf61c8d5a623ab17171fecd --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.", + "Use the left arm to lift the QR code paymentsign and rotate it QR code toward you.", + "Catch the paymentsign resting on angled base, raise it, and turn it so the QR code faces you", + "Catch the paymentsign with tilted rectangular panel using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you", + "Grab the rectangular paymentsign with colorful top using the left arm, then rotate the QR code to face forward.", + "Use the left arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Lift the smooth beige paymentsign from the table and rotate it towards you", + "Slide the beige paymentsign with printed details off the table and turn it to face you.", + "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Grab the paymentsign with tilted rectangular panel, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the beige paymentsign with printed details and rotate the qrcode to face you.", + "Use the left arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Lift the compact paymentsign for scanning payments with the left arm, then rotate it to make the qrcode visible.", + "Find the paymentsign resting on angled base, grab it, and turn it towards yourself.", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.", + "Lift the paymentsign with blue and white text and rotate until its qrcode faces you.", + "Locate the smooth beige paymentsign, pick it up, and adjust its angle.", + "Use the left arm to pick the beige paymentsign with printed details and turn it towards you.", + "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.", + "Using the left arm, catch the paymentsign resting on angled base and rotate it to face the QR code.", + "Catch the beige paymentsign with printed details, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the beige paymentsign, lift, and turn it QR code forward", + "Catch the paymentsign with blue and white text, pick it up, and rotate to show the QR code.", + "Grab the paymentsign showing QR code label using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the beige paymentsign and rotate it until the QR faces forward", + "Catch the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Lift the QR code paymentsign and orient its QR code toward you with the left arm.", + "Take the QR code paymentsign, raise it, and make the qrcode face you.", + "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Employ the left arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward", + "Grab the beige paymentsign with printed details with the left arm, then rotate it to face yourself.", + "Grab the paymentsign with blue and white text using the left arm, then rotate it until the qrcode faces you.", + "Pick the paymentsign with blue and white text up and turn its QR code toward you using the left arm.", + "Catch the QR code paymentsign, lift it, and turn the qrcode towards you.", + "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you", + "Lift the smooth beige paymentsign and rotate for its qrcode to face you.", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Pick up the rectangular paymentsign with colorful top and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the compact paymentsign for scanning payments and point its QR code toward you.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Catch the smooth beige paymentsign, pick it up, and rotate to view the qrcode.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Use the left arm to grab the beige paymentsign and rotate QR code towards you.", + "Catch the QR code paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to lift the QR code paymentsign and rotate it QR code toward you.", + "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you", + "Catch the small paymentsign for mobile payments using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you", + "Grab the rectangular paymentsign with colorful top using the left arm, then rotate the QR code to face forward.", + "Use the left arm to take the QR code paymentsign and turn it until the QR code faces you", + "Lift the beige paymentsign from the table and rotate it towards you", + "Slide the compact paymentsign for scanning payments off the table and turn it to face you.", + "Lift the QR code paymentsign from the table and rotate it so the code faces you.", + "Lift the small paymentsign for mobile payments from the table and turn it to face you.", + "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the paymentsign resting on angled base and rotate the qrcode to face you.", + "Use the left arm to grab the paymentsign showing QR code label, rotate, and face the QR code towards you.", + "Lift the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the qrcode visible.", + "Find the QR code paymentsign, grab it, and turn it towards yourself.", + "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.", + "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Locate the compact paymentsign for scanning payments, pick it up, and adjust its angle.", + "Use the left arm to pick the smooth beige paymentsign and turn it towards you.", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Using the left arm, catch the paymentsign with blue and white text and rotate it to face the QR code.", + "Catch the small paymentsign for mobile payments, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the beige paymentsign, lift, and turn it QR code forward", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Grab the smooth beige paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate it until the QR faces forward", + "Catch the beige paymentsign with printed details with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to lift the paymentsign with tilted rectangular panel from the table and face the qrcode.", + "Lift the beige paymentsign and orient its QR code toward you with the left arm.", + "Take the smooth beige paymentsign, raise it, and make the qrcode face you.", + "Lift the smooth beige paymentsign from the table, turning it QR code forward.", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Employ the left arm to seize the paymentsign with tilted rectangular panel, raise it, and rotate it QR-forward", + "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.", + "Grab the small paymentsign for mobile payments using the left arm, then rotate it until the qrcode faces you.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the left arm.", + "Catch the beige paymentsign, lift it, and turn the qrcode towards you.", + "Lift the beige paymentsign from the surface and adjust its angle towards you", + "Lift the paymentsign showing QR code label and rotate for its qrcode to face you.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Pick up the smooth beige paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the QR code paymentsign and point its QR code toward you.", + "Catch the small paymentsign for mobile payments off the table and rotate its qrcode to you.", + "Take the paymentsign showing QR code label, lift it, and orient it so the QR faces you", + "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Use the left arm to grab the small paymentsign for mobile payments and rotate QR code towards you." + ], + "unseen": [ + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode35.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..bd0e98b6c7904fdb0269c836915469e857621f27 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Find the green payment logo on gray top, grab it, and turn it towards yourself.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Use the left arm to grab the slanted gray panel for QR code scan, lift, and turn it QR code forward", + "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Pick the black base with tilted gray panel up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the green payment logo on gray top and rotate it until the QR faces forward", + "Use the left arm to lift the triangular stand with QR code and rotate it QR code toward you.", + "Use the left arm to lift the gray top with QR code from the table and face the qrcode.", + "Catch the gray slanted panel with text, raise it, and turn it so the QR code faces you", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Use the left arm to grab the black base with tilted gray panel and point its QR code toward you.", + "Use the left arm to grab the payment sign with green logo and rotate QR code towards you.", + "Grab the triangular stand with QR code with the left arm, then rotate it to face yourself.", + "Grab the green payment logo on gray top, pick it up, and turn its qrcode toward you.", + "Lift the slanted gray panel for QR code scan from the table, turning it QR code forward.", + "Using the left arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Catch the payment sign with angled face, pick it up, and rotate to show the QR code.", + "Catch the slanted gray panel for QR code scan using the left arm, pick it up, and turn it to face the QR code.", + "Lift the small payment stand with black base with the left arm, then rotate it to make the qrcode visible.", + "Catch the payment sign with angled face with the left arm, then rotate it to make the QR code visible.", + "Catch the gray top with QR code, lift it, and turn the qrcode towards you.", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Lift the tabletop-sized payment sign from the table and rotate it so the code faces you.", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Grab the slanted gray panel for QR code scan using the left arm, then rotate it until the qrcode faces you.", + "Catch and lift the small black stand for payments, then turn it to show the QR code.", + "Take the payment sign with green logo, raise it, and make the qrcode face you.", + "Lift the tabletop-sized payment sign and rotate until its qrcode faces you.", + "Grab the small payment stand with black base using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to pick the triangular stand with QR code and turn it towards you.", + "Use the left arm to take the payment sign with angled face and turn it until the QR code faces you", + "Pick up the small payment stand with black base and rotate it so the QR code faces you", + "Catch the small payment stand with black base, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the triangular stand with QR code, rotate, and face the QR code towards you.", + "Lift the triangular stand with QR code and orient its QR code toward you with the left arm.", + "Grab the tabletop-sized payment sign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Employ the left arm to seize the triangular stand with QR code, raise it, and rotate it QR-forward", + "Catch the triangular stand with QR code, lift it, and adjust its QR code to face you.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Find the tabletop-sized payment sign, grab it, and turn it towards yourself.", + "Grab the small black stand for payments, lift it from the table, and rotate it QR front", + "Slide the black base with tilted gray panel off the table and turn it to face you.", + "Use the left arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Catch the small payment stand with black base, lift it, and rotate it QR code facing.", + "Lift the green payment logo on gray top from the surface and adjust its angle towards you", + "Pick the gray top with QR code up, then rotate to make its qrcode visible.", + "Pick the green payment logo on gray top up, rotate it, and ensure the QR code faces you.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Use the left arm to lift the payment sign with green logo and rotate it QR code toward you.", + "Use the left arm to lift the small payment stand with black base from the table and face the qrcode.", + "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Use the left arm to grab the small payment stand with black base and point its QR code toward you.", + "Use the left arm to grab the green payment logo on gray top and rotate QR code towards you.", + "Grab the payment sign with green logo with the left arm, then rotate it to face yourself.", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the tabletop-sized payment sign from the table, turning it QR code forward.", + "Using the left arm, catch the slanted gray panel for QR code scan and rotate it to face the QR code.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Catch the tabletop-sized payment sign using the left arm, pick it up, and turn it to face the QR code.", + "Lift the small black stand for payments with the left arm, then rotate it to make the qrcode visible.", + "Catch the small black stand for payments with the left arm, then rotate it to make the QR code visible.", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Lift the green payment logo on gray top and rotate it until the QR code faces you.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Lift the gray top with QR code from the table and rotate it so the code faces you.", + "Take the gray top with QR code from the table, rotating it QR code toward you.", + "Grab the slanted gray panel for QR code scan using the left arm, then rotate it until the qrcode faces you.", + "Catch and lift the gray top with QR code, then turn it to show the QR code.", + "Take the small black stand for payments, raise it, and make the qrcode face you.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Grab the small black stand for payments using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to pick the gray top with QR code and turn it towards you.", + "Use the left arm to take the gray top with QR code and turn it until the QR code faces you", + "Pick up the paymentsign and rotate it so the QR code faces you", + "Catch the small black stand for payments, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Lift the black base with tilted gray panel and orient its QR code toward you with the left arm.", + "Grab the triangular stand with QR code using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the small black stand for payments and rotate the qrcode to face you.", + "Pick up the paymentsign and adjust its position to face the qrcode towards you.", + "Employ the left arm to seize the small black stand for payments, raise it, and rotate it QR-forward", + "Catch the gray slanted panel with text, lift it, and adjust its QR code to face you.", + "Catch the triangular stand with QR code, pick it up, and rotate to view the qrcode.", + "Lift the gray slanted panel with text and rotate for its qrcode to face you.", + "Catch the gray top with QR code off the table and rotate its qrcode to you.", + "Lift the tabletop-sized payment sign from the table and rotate it towards you", + "Locate the payment sign with green logo, pick it up, and adjust its angle." + ], + "unseen": [ + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode36.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..e1c0f61c41614b94056ddce7b18ad4abaa224697 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the green payment logo on gray top and rotate it until the QR faces forward", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the small black stand for payments using the left arm, pick it up, and turn it to face the QR code.", + "Find the payment sign with angled face, grab it, and turn it towards yourself.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Take the triangular stand with QR code, raise it, and make the qrcode face you.", + "Grab the slanted gray panel for QR code scan using the left arm, then rotate it until the qrcode faces you.", + "Grab the small payment stand with black base, lift it from the table, and rotate it QR front", + "Grab the small black stand for payments with the left arm, then rotate it to face yourself.", + "Lift the paymentsign from the table and turn it to face you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Use the left arm to grab the tabletop-sized payment sign and rotate QR code towards you.", + "Catch the small payment stand with black base, pick it up, and rotate to show the QR code.", + "Slide the gray top with QR code off the table and turn it to face you.", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Catch the small black stand for payments with the left arm, then rotate it to make the QR code visible.", + "Lift the small payment stand with black base and rotate until its qrcode faces you.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Catch the green payment logo on gray top, lift it, and adjust its QR code to face you.", + "Pick up the gray slanted panel with text and adjust its position to face the qrcode towards you.", + "Use the left arm to lift the small black stand for payments from the table and face the qrcode.", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Use the left arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Using the left arm, catch the gray top with QR code and rotate it to face the QR code.", + "Take the payment sign with green logo, lift it, and orient it so the QR faces you", + "Use the left arm to take the payment sign with green logo and turn it until the QR code faces you", + "Lift the gray slanted panel with text from the table and rotate it towards you", + "Lift the small black stand for payments and rotate it until the QR code faces you.", + "Grab the payment sign with green logo using the left arm, lift, and rotate until QR code faces you.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Lift the small black stand for payments from the table, turning it QR code forward.", + "Lift the small payment stand with black base and orient its QR code toward you with the left arm.", + "Use the left arm to grab the small black stand for payments and point its QR code toward you.", + "Catch the payment sign with green logo, lift it, and rotate it QR code facing.", + "Pick up the tabletop-sized payment sign and rotate it so the QR code faces you", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the left arm.", + "Use the left arm to pick the payment sign with angled face and turn it towards you.", + "Use the left arm to grab the payment sign with green logo, rotate, and face the QR code towards you.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Grab the black base with tilted gray panel using the left arm, then rotate the QR code to face forward.", + "Catch the small payment stand with black base, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate it until the QR faces forward", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Catch the slanted gray panel for QR code scan off the table and rotate its qrcode to you.", + "Pick the gray slanted panel with text up, rotate it, and ensure the QR code faces you.", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Find the tabletop-sized payment sign, grab it, and turn it towards yourself.", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Take the payment sign with angled face, raise it, and make the qrcode face you.", + "Grab the gray slanted panel with text using the left arm, then rotate it until the qrcode faces you.", + "Grab the gray slanted panel with text, lift it from the table, and rotate it QR front", + "Grab the payment sign with angled face with the left arm, then rotate it to face yourself.", + "Lift the small black stand for payments from the table and turn it to face you.", + "Locate the payment sign with angled face, pick it up, and adjust its angle.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate QR code towards you.", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Slide the payment sign with angled face off the table and turn it to face you.", + "Lift the tabletop-sized payment sign and rotate for its qrcode to face you.", + "Catch the gray top with QR code with the left arm, then rotate it to make the QR code visible.", + "Lift the black base with tilted gray panel and rotate until its qrcode faces you.", + "Catch the gray top with QR code, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the tabletop-sized payment sign and rotate it QR code toward you.", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Catch the gray top with QR code, lift it, and adjust its QR code to face you.", + "Pick up the tabletop-sized payment sign and adjust its position to face the qrcode towards you.", + "Use the left arm to lift the gray slanted panel with text from the table and face the qrcode.", + "Employ the left arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Use the left arm to grab the black base with tilted gray panel and rotate the qrcode to face you.", + "Using the left arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Use the left arm to take the gray top with QR code and turn it until the QR code faces you", + "Lift the tabletop-sized payment sign from the table and rotate it towards you", + "Lift the payment sign with green logo and rotate it until the QR code faces you.", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Grab the green payment logo on gray top, pick it up, and turn its qrcode toward you.", + "Lift the small payment stand with black base from the table and rotate it so the code faces you.", + "Lift the gray top with QR code from the table, turning it QR code forward.", + "Lift the small payment stand with black base and orient its QR code toward you with the left arm.", + "Use the left arm to grab the small payment stand with black base and point its QR code toward you.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Pick up the small black stand for payments and rotate it so the QR code faces you", + "Catch the green payment logo on gray top, lift, and rotate to align the qrcode to you.", + "Catch the gray top with QR code, raise it, and turn it so the QR code faces you", + "Lift the payment sign with green logo with the left arm, then rotate it to make the qrcode visible.", + "Pick the payment sign with angled face up and turn its QR code toward you using the left arm.", + "Use the left arm to pick the small payment stand with black base and turn it towards you.", + "Use the left arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Catch and lift the tabletop-sized payment sign, then turn it to show the QR code.", + "Grab the slanted gray panel for QR code scan using the left arm, then rotate the QR code to face forward.", + "Catch the payment sign with green logo, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the payment sign with green logo, lift, and turn it QR code forward" + ], + "unseen": [ + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode37.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..3edb230cef1ed7590411bdee7410d5bbdc7fc76a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the QR code paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the beige paymentsign, lift, and turn it QR code forward", + "Use the right arm to take the beige paymentsign and turn it until the QR code faces you", + "Catch and lift the paymentsign showing QR code label, then turn it to show the QR code.", + "Use the right arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Employ the right arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Lift the compact paymentsign for scanning payments and rotate until its qrcode faces you.", + "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you.", + "Take the paymentsign with tilted rectangular panel from the table, rotating it QR code toward you.", + "Use the right arm to pick the stand-up paymentsign with rectangular top and turn it towards you.", + "Take the QR code paymentsign, lift it, and orient it so the QR faces you", + "Use the right arm to lift the paymentsign resting on angled base from the table and face the qrcode.", + "Use the right arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate the qrcode to face you.", + "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.", + "Catch the beige paymentsign with printed details, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the smooth beige paymentsign and rotate QR code towards you.", + "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and point its QR code toward you.", + "Lift the stand-up paymentsign with rectangular top from the table and turn it to face you.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Pick up the stand-up paymentsign with rectangular top and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the QR code paymentsign and rotate it until the QR faces forward", + "Catch the small paymentsign for mobile payments, lift it, and rotate it QR code facing.", + "Catch the stand-up paymentsign with rectangular top, raise it, and turn it so the QR code faces you", + "Using the right arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.", + "Grab the paymentsign showing QR code label, lift it from the table, and rotate it QR front", + "Lift the beige paymentsign with printed details with the right arm, then rotate it to make the qrcode visible.", + "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.", + "Lift the stand-up paymentsign with rectangular top from the table, turning it QR code forward.", + "Grab the QR code paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Find the paymentsign resting on angled base, grab it, and turn it towards yourself.", + "Grab the paymentsign with blue and white text using the right arm, then rotate the QR code to face forward.", + "Lift the beige paymentsign and orient its QR code toward you with the right arm.", + "Grab the paymentsign with tilted rectangular panel with the right arm, then rotate it to face yourself.", + "Catch the compact paymentsign for scanning payments using the right arm, pick it up, and turn it to face the QR code.", + "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.", + "Catch the stand-up paymentsign with rectangular top with the right arm, then rotate it to make the QR code visible.", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the right arm.", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.", + "Catch the QR code paymentsign off the table and rotate its qrcode to you.", + "Slide the paymentsign with blue and white text off the table and turn it to face you.", + "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you", + "Lift the beige paymentsign from the table and rotate it towards you", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate it until the qrcode faces you.", + "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.", + "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward", + "Use the right arm to take the stand-up paymentsign with rectangular top and turn it until the QR code faces you", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Use the right arm to lift the paymentsign resting on angled base and rotate it QR code toward you.", + "Employ the right arm to seize the compact paymentsign for scanning payments, raise it, and rotate it QR-forward", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Lift the paymentsign resting on angled base and rotate until its qrcode faces you.", + "Pick the QR code paymentsign up, rotate it, and ensure the QR code faces you.", + "Take the smooth beige paymentsign from the table, rotating it QR code toward you.", + "Use the right arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Take the paymentsign showing QR code label, lift it, and orient it so the QR faces you", + "Use the right arm to lift the beige paymentsign with printed details from the table and face the qrcode.", + "Use the right arm to grab the paymentsign with tilted rectangular panel, rotate, and face the QR code towards you.", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate the qrcode to face you.", + "Lift the compact paymentsign for scanning payments from the table and rotate it so the code faces you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the paymentsign showing QR code label and rotate QR code towards you.", + "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the beige paymentsign with printed details and point its QR code toward you.", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Pick the stand-up paymentsign with rectangular top up, then rotate to make its qrcode visible.", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the QR code paymentsign and rotate it until the QR faces forward", + "Catch the beige paymentsign, lift it, and rotate it QR code facing.", + "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you", + "Using the right arm, catch the beige paymentsign with printed details and rotate it to face the QR code.", + "Grab the paymentsign showing QR code label, lift it from the table, and rotate it QR front", + "Lift the paymentsign resting on angled base with the right arm, then rotate it to make the qrcode visible.", + "Take the paymentsign showing QR code label, raise it, and make the qrcode face you.", + "Lift the QR code paymentsign from the table, turning it QR code forward.", + "Grab the paymentsign showing QR code label using the right arm, lift, and rotate until QR code faces you.", + "Find the beige paymentsign with printed details, grab it, and turn it towards yourself.", + "Grab the beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the right arm.", + "Grab the beige paymentsign with printed details with the right arm, then rotate it to face yourself.", + "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.", + "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign with tilted rectangular panel with the right arm, then rotate it to make the QR code visible.", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Pick the paymentsign showing QR code label up and turn its QR code toward you using the right arm.", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to view the qrcode.", + "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.", + "Catch the paymentsign resting on angled base off the table and rotate its qrcode to you.", + "Slide the paymentsign showing QR code label off the table and turn it to face you.", + "Lift the QR code paymentsign from the surface and adjust its angle towards you", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Grab the beige paymentsign with printed details using the right arm, then rotate it until the qrcode faces you.", + "Locate the QR code paymentsign, pick it up, and adjust its angle." + ], + "unseen": [ + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode38.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..b8725f5f244e34f22b291977460908ed68afee50 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign resting on angled base and rotate it until the QR code faces you.", + "Lift the stand-up paymentsign with rectangular top from the table, turning it QR code forward.", + "Use the right arm to grab the paymentsign with blue and white text and point its QR code toward you.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate the qrcode to face you.", + "Use the right arm to grab the smooth beige paymentsign and rotate it until the QR faces forward", + "Grab the paymentsign showing QR code label using the right arm, then rotate the QR code to face forward.", + "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you", + "Lift the smooth beige paymentsign from the surface and adjust its angle towards you", + "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.", + "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to view the qrcode.", + "Grab the compact paymentsign for scanning payments, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate QR code towards you.", + "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you", + "Pick up the smooth beige paymentsign and adjust its position to face the qrcode towards you.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Employ the right arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward", + "Catch the QR code paymentsign, lift it, and rotate it QR code facing.", + "Grab the beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Grab the beige paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the paymentsign resting on angled base from the table and face the qrcode.", + "Use the right arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.", + "Use the right arm to pick the QR code paymentsign and turn it towards you.", + "Lift the beige paymentsign from the table and turn it to face you.", + "Find the small paymentsign for mobile payments, grab it, and turn it towards yourself.", + "Pick the paymentsign resting on angled base up and turn its QR code toward you using the right arm.", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Lift the beige paymentsign with printed details and orient its QR code toward you with the right arm.", + "Locate the beige paymentsign, pick it up, and adjust its angle.", + "Lift the rectangular paymentsign with colorful top and rotate until its qrcode faces you.", + "Catch and lift the smooth beige paymentsign, then turn it to show the QR code.", + "Use the right arm to lift the compact paymentsign for scanning payments and rotate it QR code toward you.", + "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.", + "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.", + "Use the right arm to take the paymentsign resting on angled base and turn it until the QR code faces you", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Catch the compact paymentsign for scanning payments with the right arm, then rotate it to make the QR code visible.", + "Grab the paymentsign with tilted rectangular panel using the right arm, then rotate it until the qrcode faces you.", + "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.", + "Grab the rectangular paymentsign with colorful top, lift it from the table, and rotate it QR front", + "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you", + "Lift the paymentsign showing QR code label from the table and rotate it so the code faces you.", + "Using the right arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.", + "Lift the paymentsign with tilted rectangular panel with the right arm, then rotate it to make the qrcode visible.", + "Take the beige paymentsign, raise it, and make the qrcode face you.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Pick the beige paymentsign up, then rotate to make its qrcode visible.", + "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.", + "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.", + "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.", + "Use the right arm to grab the compact paymentsign for scanning payments and point its QR code toward you.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate the qrcode to face you.", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Grab the stand-up paymentsign with rectangular top using the right arm, then rotate the QR code to face forward.", + "Catch the QR code paymentsign, raise it, and turn it so the QR code faces you", + "Lift the paymentsign with blue and white text from the surface and adjust its angle towards you", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Catch the beige paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.", + "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the QR code paymentsign and rotate QR code towards you.", + "Take the paymentsign with blue and white text, lift it, and orient it so the QR faces you", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Lift the paymentsign resting on angled base from the table and rotate it towards you", + "Employ the right arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Catch the beige paymentsign, lift it, and rotate it QR code facing.", + "Grab the QR code paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the beige paymentsign, lift, and turn it QR code forward", + "Lift the compact paymentsign for scanning payments and rotate for its qrcode to face you.", + "Grab the rectangular paymentsign with colorful top with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the beige paymentsign with printed details from the table and face the qrcode.", + "Use the right arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.", + "Use the right arm to pick the paymentsign with blue and white text and turn it towards you.", + "Lift the paymentsign with tilted rectangular panel from the table and turn it to face you.", + "Find the smooth beige paymentsign, grab it, and turn it towards yourself.", + "Pick the paymentsign with blue and white text up and turn its QR code toward you using the right arm.", + "Pick the stand-up paymentsign with rectangular top up, rotate it, and ensure the QR code faces you.", + "Lift the small paymentsign for mobile payments and orient its QR code toward you with the right arm.", + "Locate the beige paymentsign, pick it up, and adjust its angle.", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Catch and lift the paymentsign with tilted rectangular panel, then turn it to show the QR code.", + "Use the right arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.", + "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.", + "Use the right arm to take the stand-up paymentsign with rectangular top and turn it until the QR code faces you", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Catch the beige paymentsign with the right arm, then rotate it to make the QR code visible.", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate it until the qrcode faces you.", + "Catch the beige paymentsign with printed details, pick it up, and rotate to show the QR code.", + "Grab the rectangular paymentsign with colorful top, lift it from the table, and rotate it QR front", + "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you", + "Lift the compact paymentsign for scanning payments from the table and rotate it so the code faces you.", + "Using the right arm, catch the paymentsign showing QR code label and rotate it to face the QR code.", + "Lift the beige paymentsign with printed details with the right arm, then rotate it to make the qrcode visible.", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you." + ], + "unseen": [ + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode39.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..9598741ae79c9710a721c701cc1d1aa2bcd939ea --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.", + "Catch the paymentsign resting on angled base, lift, and rotate to align the qrcode to you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Lift the compact paymentsign for scanning payments from the table and rotate it so the code faces you.", + "Pick the compact paymentsign for scanning payments up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the paymentsign showing QR code label, lift, and turn it QR code forward", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Take the paymentsign with tilted rectangular panel, raise it, and make the qrcode face you.", + "Grab the compact paymentsign for scanning payments using the right arm, then rotate it until the qrcode faces you.", + "Catch the QR code paymentsign with the right arm, then rotate it to make the QR code visible.", + "Using the right arm, catch the beige paymentsign and rotate it to face the QR code.", + "Lift the paymentsign resting on angled base and rotate until its qrcode faces you.", + "Catch and lift the stand-up paymentsign with rectangular top, then turn it to show the QR code.", + "Take the paymentsign with tilted rectangular panel from the table, rotating it QR code toward you.", + "Employ the right arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward", + "Lift the paymentsign showing QR code label and rotate for its qrcode to face you.", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Take the QR code paymentsign, lift it, and orient it so the QR faces you", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Catch the paymentsign resting on angled base, lift it, and turn the qrcode towards you.", + "Grab the rectangular paymentsign with colorful top using the right arm, lift, and rotate until QR code faces you.", + "Lift the beige paymentsign and orient its QR code toward you with the right arm.", + "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.", + "Catch the compact paymentsign for scanning payments, lift it, and rotate it QR code facing.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Use the right arm to grab the smooth beige paymentsign and rotate it until the QR faces forward", + "Pick the paymentsign with blue and white text up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.", + "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.", + "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign resting on angled base from the table and rotate it towards you", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Slide the beige paymentsign off the table and turn it to face you.", + "Grab the smooth beige paymentsign with the right arm, then rotate it to face yourself.", + "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you", + "Use the right arm to take the beige paymentsign with printed details and turn it until the QR code faces you", + "Lift the QR code paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Locate the smooth beige paymentsign, pick it up, and adjust its angle.", + "Catch the QR code paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Grab the compact paymentsign for scanning payments using the right arm, then rotate the QR code to face forward.", + "Catch the beige paymentsign, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the paymentsign with blue and white text, rotate, and face the QR code towards you.", + "Use the right arm to lift the QR code paymentsign from the table and face the qrcode.", + "Use the right arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to view the qrcode.", + "Catch the paymentsign with tilted rectangular panel, raise it, and turn it so the QR code faces you", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Use the right arm to grab the paymentsign resting on angled base and point its QR code toward you.", + "Use the right arm to pick the paymentsign resting on angled base and turn it towards you.", + "Lift the paymentsign showing QR code label from the table, turning it QR code forward.", + "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.", + "Pick up the compact paymentsign for scanning payments and rotate it so the QR code faces you", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it so the code faces you.", + "Pick the stand-up paymentsign with rectangular top up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Catch the beige paymentsign with printed details, pick it up, and rotate to show the QR code.", + "Take the QR code paymentsign, raise it, and make the qrcode face you.", + "Grab the rectangular paymentsign with colorful top using the right arm, then rotate it until the qrcode faces you.", + "Catch the beige paymentsign with printed details with the right arm, then rotate it to make the QR code visible.", + "Using the right arm, catch the smooth beige paymentsign and rotate it to face the QR code.", + "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.", + "Employ the right arm to seize the paymentsign with blue and white text, raise it, and rotate it QR-forward", + "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.", + "Lift the smooth beige paymentsign from the table and turn it to face you.", + "Take the small paymentsign for mobile payments, lift it, and orient it so the QR faces you", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Catch the beige paymentsign, lift it, and turn the qrcode towards you.", + "Grab the stand-up paymentsign with rectangular top using the right arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the right arm.", + "Catch the beige paymentsign off the table and rotate its qrcode to you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Use the right arm to grab the QR code paymentsign and rotate QR code towards you.", + "Use the right arm to grab the small paymentsign for mobile payments and rotate it until the QR faces forward", + "Pick the paymentsign with blue and white text up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the smooth beige paymentsign and rotate the qrcode to face you.", + "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.", + "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.", + "Lift the beige paymentsign from the table and rotate it towards you", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Lift the compact paymentsign for scanning payments and rotate it until the QR code faces you.", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Grab the QR code paymentsign with the right arm, then rotate it to face yourself.", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Use the right arm to take the smooth beige paymentsign and turn it until the QR code faces you", + "Lift the paymentsign with tilted rectangular panel with the right arm, then rotate it to make the qrcode visible.", + "Locate the paymentsign showing QR code label, pick it up, and adjust its angle.", + "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.", + "Grab the smooth beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the paymentsign resting on angled base, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the paymentsign with blue and white text, rotate, and face the QR code towards you.", + "Use the right arm to lift the QR code paymentsign from the table and face the qrcode.", + "Use the right arm to lift the paymentsign with blue and white text and rotate it QR code toward you.", + "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Find the small paymentsign for mobile payments, grab it, and turn it towards yourself.", + "Use the right arm to grab the compact paymentsign for scanning payments and point its QR code toward you.", + "Use the right arm to pick the rectangular paymentsign with colorful top and turn it towards you." + ], + "unseen": [ + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode4.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..87ba3fd07f8cf8e46a2cf2e7c6d13d7b719488b5 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the gray top with QR code using the right arm, then rotate the QR code to face forward.", + "Find the tabletop-sized payment sign, grab it, and turn it towards yourself.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Use the right arm to take the small black stand for payments and turn it until the QR code faces you", + "Lift the small payment stand with black base from the table and rotate it so the code faces you.", + "Grab the black base with tilted gray panel, lift it from the table, and rotate it QR front", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Lift the gray top with QR code from the surface and adjust its angle towards you", + "Slide the slanted gray panel for QR code scan off the table and turn it to face you.", + "Take the small payment stand with black base, lift it, and orient it so the QR faces you", + "Employ the right arm to seize the triangular stand with QR code, raise it, and rotate it QR-forward", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Pick the black base with tilted gray panel up and turn its QR code toward you using the right arm.", + "Pick up the small payment stand with black base and rotate it so the QR code faces you", + "Lift the tabletop-sized payment sign and rotate for its qrcode to face you.", + "Catch the small payment stand with black base off the table and rotate its qrcode to you.", + "Use the right arm to grab the triangular stand with QR code and rotate the qrcode to face you.", + "Using the right arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Catch the payment sign with green logo, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the paymentsign and rotate it until the QR faces forward", + "Use the right arm to grab the small payment stand with black base, rotate, and face the QR code towards you.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Catch the gray top with QR code using the right arm, pick it up, and turn it to face the QR code.", + "Grab the gray top with QR code using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Lift the payment sign with green logo and orient its QR code toward you with the right arm.", + "Grab the triangular stand with QR code using the right arm, then rotate it until the qrcode faces you.", + "Lift the triangular stand with QR code with the right arm, then rotate it to make the qrcode visible.", + "Pick the payment sign with green logo up, then rotate to make its qrcode visible.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Use the right arm to pick the gray top with QR code and turn it towards you.", + "Use the right arm to grab the paymentsign and rotate QR code towards you.", + "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the tabletop-sized payment sign and point its QR code toward you.", + "Use the right arm to lift the green payment logo on gray top from the table and face the qrcode.", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Use the right arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Grab the small payment stand with black base with the right arm, then rotate it to face yourself.", + "Catch the triangular stand with QR code with the right arm, then rotate it to make the QR code visible.", + "Catch the triangular stand with QR code, lift it, and turn the qrcode towards you.", + "Lift the small black stand for payments and rotate it until the QR code faces you.", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Grab the gray top with QR code using the right arm, then rotate the QR code to face forward.", + "Find the payment sign with green logo, grab it, and turn it towards yourself.", + "Catch and lift the triangular stand with QR code, then turn it to show the QR code.", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Take the triangular stand with QR code, raise it, and make the qrcode face you.", + "Use the right arm to take the gray slanted panel with text and turn it until the QR code faces you", + "Lift the small payment stand with black base from the table and rotate it so the code faces you.", + "Grab the green payment logo on gray top, lift it from the table, and rotate it QR front", + "Lift the payment sign with green logo and rotate until its qrcode faces you.", + "Catch the green payment logo on gray top, pick it up, and rotate to view the qrcode.", + "Lift the green payment logo on gray top from the table, turning it QR code forward.", + "Lift the small payment stand with black base from the surface and adjust its angle towards you", + "Slide the small payment stand with black base off the table and turn it to face you.", + "Take the small payment stand with black base, lift it, and orient it so the QR faces you", + "Employ the right arm to seize the green payment logo on gray top, raise it, and rotate it QR-forward", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the right arm.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Lift the green payment logo on gray top and rotate for its qrcode to face you.", + "Catch the green payment logo on gray top off the table and rotate its qrcode to you.", + "Use the right arm to grab the black base with tilted gray panel and rotate the qrcode to face you.", + "Using the right arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Catch the triangular stand with QR code, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Use the right arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Take the black base with tilted gray panel from the table, rotating it QR code toward you.", + "Catch the slanted gray panel for QR code scan using the right arm, pick it up, and turn it to face the QR code.", + "Grab the payment sign with angled face using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the small black stand for payments, lift, and turn it QR code forward", + "Locate the tabletop-sized payment sign, pick it up, and adjust its angle.", + "Catch the black base with tilted gray panel, lift, and rotate to align the qrcode to you.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Lift the black base with tilted gray panel and orient its QR code toward you with the right arm.", + "Grab the small black stand for payments using the right arm, then rotate it until the qrcode faces you.", + "Lift the triangular stand with QR code with the right arm, then rotate it to make the qrcode visible.", + "Pick the slanted gray panel for QR code scan up, then rotate to make its qrcode visible.", + "Catch the gray slanted panel with text, lift it, and rotate it QR code facing.", + "Use the right arm to pick the gray top with QR code and turn it towards you.", + "Use the right arm to grab the small payment stand with black base and rotate QR code towards you.", + "Pick up the black base with tilted gray panel and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the small black stand for payments and point its QR code toward you.", + "Use the right arm to lift the small payment stand with black base from the table and face the qrcode.", + "Lift the triangular stand with QR code from the table and rotate it towards you", + "Catch the green payment logo on gray top, lift it, and adjust its QR code to face you.", + "Use the right arm to lift the paymentsign and rotate it QR code toward you.", + "Grab the payment sign with green logo with the right arm, then rotate it to face yourself.", + "Catch the gray slanted panel with text with the right arm, then rotate it to make the QR code visible.", + "Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.", + "Lift the slanted gray panel for QR code scan and rotate it until the QR code faces you.", + "Pick the gray top with QR code up, rotate it, and ensure the QR code faces you." + ], + "unseen": [ + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode40.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..91a6e0d7f4093a074caf36770d4e6966dc48b3c3 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to take the white stand sign and turn it until the QR code faces you", + "Grab the rectangular paymentsign with stand using the left arm, then rotate the QR code to face forward.", + "Take the smooth plastic paymentsign with QR code, raise it, and make the qrcode face you.", + "Pick the white rectangular paymentsign with yellow details up, rotate it, and ensure the QR code faces you.", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Pick up the yellow panel white paymentsign and rotate it so the QR code faces you", + "Lift the smooth plastic paymentsign with QR code and rotate until its qrcode faces you.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate it until the QR faces forward", + "Catch the smooth plastic paymentsign with QR code, lift it, and turn the qrcode towards you.", + "Grab the sign with yellow payment section with the left arm, then rotate it to face yourself.", + "Use the left arm to pick the tabletop paymentsign and turn it towards you.", + "Find the tabletop paymentsign, grab it, and turn it towards yourself.", + "Grab the plastic smooth paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Catch the yellow panel white paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the smooth plastic paymentsign with QR code, lift it from the table, and rotate it QR front", + "Grab the rectangular paymentsign with stand using the left arm, then rotate it until the qrcode faces you.", + "Catch the yellow and white payment display using the left arm, pick it up, and turn it to face the QR code.", + "Lift the yellow and white payment display from the table and rotate it so the code faces you.", + "Catch the smooth plastic paymentsign with QR code off the table and rotate its qrcode to you.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Catch the sign with yellow payment section, lift it, and adjust its QR code to face you.", + "Lift the white paymentsign with raised base and rotate for its qrcode to face you.", + "Employ the left arm to seize the sign with yellow payment section, raise it, and rotate it QR-forward", + "Use the left arm to lift the white paymentsign with raised base from the table and face the qrcode.", + "Lift the white stand sign from the table and rotate it towards you", + "Pick the tabletop paymentsign up, then rotate to make its qrcode visible.", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Catch the yellow panel white paymentsign with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the yellow panel white paymentsign, rotate, and face the QR code towards you.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Catch the paymentsign with QR code area, lift it, and rotate it QR code facing.", + "Lift the paymentsign and orient its QR code toward you with the left arm.", + "Use the left arm to grab the plastic smooth paymentsign and rotate the qrcode to face you.", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Grab the sign with yellow payment section, pick it up, and turn its qrcode toward you.", + "Lift the white stand sign and rotate it until the QR code faces you.", + "Catch the smooth plastic paymentsign with QR code, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the white stand sign and point its QR code toward you.", + "Use the left arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Pick the sign with yellow payment section up and turn its QR code toward you using the left arm.", + "Using the left arm, catch the white stand sign and rotate it to face the QR code.", + "Use the left arm to lift the paymentsign with QR code area and rotate it QR code toward you.", + "Lift the rectangular paymentsign with stand with the left arm, then rotate it to make the qrcode visible.", + "Catch the white stand sign, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Lift the white paymentsign with raised base from the table, turning it QR code forward.", + "Catch the sign with yellow payment section, raise it, and turn it so the QR code faces you", + "Lift the paymentsign from the table and turn it to face you.", + "Catch and lift the white rectangular paymentsign with yellow details, then turn it to show the QR code.", + "Use the left arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Grab the smooth plastic paymentsign with QR code using the left arm, then rotate the QR code to face forward.", + "Take the rectangular paymentsign with stand, raise it, and make the qrcode face you.", + "Pick the smooth plastic paymentsign with QR code up, rotate it, and ensure the QR code faces you.", + "Pick up the white rectangular paymentsign with yellow details and adjust its position to face the qrcode towards you.", + "Pick up the yellow panel white paymentsign and rotate it so the QR code faces you", + "Lift the white paymentsign with raised base and rotate until its qrcode faces you.", + "Use the left arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Grab the smooth plastic paymentsign with QR code with the left arm, then rotate it to face yourself.", + "Use the left arm to pick the white stand sign and turn it towards you.", + "Find the yellow and white payment display, grab it, and turn it towards yourself.", + "Grab the white rectangular paymentsign with yellow details using the left arm, lift, and rotate until QR code faces you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the tabletop paymentsign, lift it from the table, and rotate it QR front", + "Grab the paymentsign with QR code area using the left arm, then rotate it until the qrcode faces you.", + "Catch the sign with yellow payment section using the left arm, pick it up, and turn it to face the QR code.", + "Lift the plastic smooth paymentsign from the table and rotate it so the code faces you.", + "Catch the yellow panel white paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Catch the smooth plastic paymentsign with QR code, lift it, and adjust its QR code to face you.", + "Lift the white stand sign and rotate for its qrcode to face you.", + "Employ the left arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to lift the yellow and white payment display from the table and face the qrcode.", + "Lift the sign with yellow payment section from the table and rotate it towards you", + "Pick the rectangular paymentsign with stand up, then rotate to make its qrcode visible.", + "Slide the plastic smooth paymentsign off the table and turn it to face you.", + "Catch the tabletop paymentsign with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the tabletop paymentsign, rotate, and face the QR code towards you.", + "Locate the white paymentsign with raised base, pick it up, and adjust its angle.", + "Catch the rectangular paymentsign with stand, lift it, and rotate it QR code facing.", + "Lift the paymentsign with QR code area and orient its QR code toward you with the left arm.", + "Use the left arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Take the white paymentsign with raised base, lift it, and orient it so the QR faces you", + "Take the paymentsign with QR code area from the table, rotating it QR code toward you.", + "Grab the smooth plastic paymentsign with QR code, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign with QR code area and rotate it until the QR code faces you.", + "Catch the sign with yellow payment section, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the paymentsign with QR code area and point its QR code toward you.", + "Use the left arm to grab the rectangular paymentsign with stand and rotate QR code towards you.", + "Pick the sign with yellow payment section up and turn its QR code toward you using the left arm.", + "Using the left arm, catch the white rectangular paymentsign with yellow details and rotate it to face the QR code.", + "Use the left arm to lift the yellow panel white paymentsign and rotate it QR code toward you.", + "Lift the tabletop paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to show the QR code.", + "Lift the white rectangular paymentsign with yellow details from the surface and adjust its angle towards you", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Catch the tabletop paymentsign, raise it, and turn it so the QR code faces you", + "Lift the smooth plastic paymentsign with QR code from the table and turn it to face you.", + "Catch and lift the white rectangular paymentsign with yellow details, then turn it to show the QR code." + ], + "unseen": [ + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode41.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..eb77e98a7b7587bed54911a46e491cda209598b5 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the green payment logo on gray top, lift it, and orient it so the QR faces you", + "Use the right arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Catch the payment sign with angled face, lift it, and adjust its QR code to face you.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Catch the payment sign with green logo with the right arm, then rotate it to make the QR code visible.", + "Take the payment sign with green logo from the table, rotating it QR code toward you.", + "Use the right arm to grab the green payment logo on gray top and rotate the qrcode to face you.", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Using the right arm, catch the gray top with QR code and rotate it to face the QR code.", + "Lift the triangular stand with QR code from the table, turning it QR code forward.", + "Pick the slanted gray panel for QR code scan up and turn its QR code toward you using the right arm.", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Grab the paymentsign using the right arm, then rotate the QR code to face forward.", + "Grab the gray top with QR code using the right arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Grab the payment sign with green logo with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the gray top with QR code from the table and face the qrcode.", + "Use the right arm to pick the small payment stand with black base and turn it towards you.", + "Grab the tabletop-sized payment sign, pick it up, and turn its qrcode toward you.", + "Lift the triangular stand with QR code and rotate it until the QR code faces you.", + "Pick up the gray top with QR code and adjust its position to face the qrcode towards you.", + "Catch the triangular stand with QR code using the right arm, pick it up, and turn it to face the QR code.", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Catch the small payment stand with black base, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the gray top with QR code, rotate, and face the QR code towards you.", + "Grab the small black stand for payments, lift it from the table, and rotate it QR front", + "Use the right arm to take the black base with tilted gray panel and turn it until the QR code faces you", + "Use the right arm to grab the gray top with QR code and rotate QR code towards you.", + "Catch the payment sign with green logo, lift it, and rotate it QR code facing.", + "Lift the payment sign with angled face with the right arm, then rotate it to make the qrcode visible.", + "Find the tabletop-sized payment sign, grab it, and turn it towards yourself.", + "Catch the gray top with QR code, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the slanted gray panel for QR code scan and point its QR code toward you.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Pick up the gray slanted panel with text and rotate it so the QR code faces you", + "Lift the tabletop-sized payment sign from the table and turn it to face you.", + "Lift the small black stand for payments and orient its QR code toward you with the right arm.", + "Use the right arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Grab the black base with tilted gray panel using the right arm, lift, and rotate until QR code faces you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Employ the right arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Slide the slanted gray panel for QR code scan off the table and turn it to face you.", + "Pick the green payment logo on gray top up, then rotate to make its qrcode visible.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Locate the payment sign with green logo, pick it up, and adjust its angle.", + "Lift the gray top with QR code from the table and rotate it so the code faces you.", + "Lift the small black stand for payments and rotate until its qrcode faces you.", + "Use the right arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Take the green payment logo on gray top, lift it, and orient it so the QR faces you", + "Use the right arm to grab the paymentsign and rotate it until the QR faces forward", + "Catch the payment sign with green logo, pick it up, and rotate to view the qrcode.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Catch the gray top with QR code, lift, and rotate to align the qrcode to you.", + "Catch the payment sign with green logo with the right arm, then rotate it to make the QR code visible.", + "Take the black base with tilted gray panel from the table, rotating it QR code toward you.", + "Use the right arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Catch the tabletop-sized payment sign, lift it, and turn the qrcode towards you.", + "Using the right arm, catch the small black stand for payments and rotate it to face the QR code.", + "Lift the slanted gray panel for QR code scan from the table, turning it QR code forward.", + "Pick the small payment stand with black base up and turn its QR code toward you using the right arm.", + "Lift the payment sign with green logo and rotate for its qrcode to face you.", + "Grab the gray top with QR code using the right arm, then rotate the QR code to face forward.", + "Grab the tabletop-sized payment sign using the right arm, then rotate it until the qrcode faces you.", + "Catch the slanted gray panel for QR code scan off the table and rotate its qrcode to you.", + "Grab the payment sign with angled face with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the gray top with QR code from the table and face the qrcode.", + "Use the right arm to pick the tabletop-sized payment sign and turn it towards you.", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the small payment stand with black base and rotate it until the QR code faces you.", + "Pick up the paymentsign and adjust its position to face the qrcode towards you.", + "Catch the payment sign with green logo using the right arm, pick it up, and turn it to face the QR code.", + "Take the small black stand for payments, raise it, and make the qrcode face you.", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Use the right arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Use the right arm to grab the slanted gray panel for QR code scan and rotate QR code towards you.", + "Catch the payment sign with green logo, lift it, and rotate it QR code facing.", + "Lift the payment sign with angled face with the right arm, then rotate it to make the qrcode visible.", + "Find the black base with tilted gray panel, grab it, and turn it towards yourself.", + "Catch the payment sign with green logo, raise it, and turn it so the QR code faces you", + "Use the right arm to grab the triangular stand with QR code and point its QR code toward you.", + "Lift the payment sign with angled face from the table and rotate it towards you", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Lift the triangular stand with QR code from the table and turn it to face you.", + "Lift the black base with tilted gray panel and orient its QR code toward you with the right arm.", + "Use the right arm to lift the gray slanted panel with text and rotate it QR code toward you.", + "Catch and lift the slanted gray panel for QR code scan, then turn it to show the QR code.", + "Grab the black base with tilted gray panel using the right arm, lift, and rotate until QR code faces you.", + "Pick the gray top with QR code up, rotate it, and ensure the QR code faces you.", + "Employ the right arm to seize the slanted gray panel for QR code scan, raise it, and rotate it QR-forward", + "Slide the green payment logo on gray top off the table and turn it to face you.", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.", + "Use the right arm to grab the gray slanted panel with text, lift, and turn it QR code forward" + ], + "unseen": [ + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode42.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..a62f3127d576348357d5059d9da2d0f93b0bf2ec --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the smooth surface paymentsign, lift it, and adjust its QR code to face you.", + "Catch and lift the rectangular plastic paymentsign, then turn it to show the QR code.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to view the qrcode.", + "Locate the small glossy paymentsign, pick it up, and adjust its angle.", + "Grab the small paymentsign with stand, lift it from the table, and rotate it QR front", + "Use the left arm to lift the paymentsign for scanning QR codes from the table and face the qrcode.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to show the QR code.", + "Catch the rectangular plastic paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to lift the rectangular plastic paymentsign with codes and rotate it QR code toward you.", + "Grab the smooth surface paymentsign using the left arm, then rotate the QR code to face forward.", + "Lift the smooth surface paymentsign from the table and rotate it so the code faces you.", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Lift the smooth surface paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign with printed QR codes using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to pick the tabletop paymentsign and turn it towards you.", + "Employ the left arm to seize the small glossy paymentsign, raise it, and rotate it QR-forward", + "Lift the rectangular plastic paymentsign with codes and rotate for its qrcode to face you.", + "Pick the paymentsign for scanning QR codes up, rotate it, and ensure the QR code faces you.", + "Grab the rectangular plastic paymentsign with codes using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the paymentsign with angled black stand and rotate QR code towards you.", + "Use the left arm to grab the paymentsign with glossy blue panel and point its QR code toward you.", + "Lift the tabletop paymentsign from the table and turn it to face you.", + "Pick up the paymentsign with angled black stand and rotate it so the QR code faces you", + "Use the left arm to take the smooth surface paymentsign and turn it until the QR code faces you", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it towards you", + "Catch the paymentsign with angled black stand, raise it, and turn it so the QR code faces you", + "Catch the smooth surface paymentsign with the left arm, then rotate it to make the QR code visible.", + "Grab the tabletop paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Pick the small glossy paymentsign up and turn its QR code toward you using the left arm.", + "Take the blue and white paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign with glossy blue panel from the table, turning it QR code forward.", + "Grab the rectangular plastic paymentsign with the left arm, then rotate it to face yourself.", + "Use the left arm to grab the smooth surface paymentsign and rotate it until the QR faces forward", + "Use the left arm to grab the paymentsign for scanning QR codes, lift, and turn it QR code forward", + "Grab the paymentsign with angled black stand, pick it up, and turn its qrcode toward you.", + "Lift the small glossy paymentsign from the surface and adjust its angle towards you", + "Use the left arm to grab the blue and white paymentsign and rotate the qrcode to face you.", + "Catch the paymentsign with glossy blue panel, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the paymentsign with printed QR codes, rotate, and face the QR code towards you.", + "Pick the blue and white paymentsign up, then rotate to make its qrcode visible.", + "Lift the tabletop paymentsign and orient its QR code toward you with the left arm.", + "Using the left arm, catch the paymentsign for scanning QR codes and rotate it to face the QR code.", + "Catch the small paymentsign with stand, lift it, and rotate it QR code facing.", + "Take the paymentsign with printed QR codes, lift it, and orient it so the QR faces you", + "Slide the small paymentsign with stand off the table and turn it to face you.", + "Pick up the paymentsign with glossy blue panel and adjust its position to face the qrcode towards you.", + "Lift the blue and white paymentsign and rotate it until the QR code faces you.", + "Find the small paymentsign with stand, grab it, and turn it towards yourself.", + "Take the rectangular plastic paymentsign, raise it, and make the qrcode face you.", + "Catch the paymentsign with glossy blue panel, lift, and rotate to align the qrcode to you.", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Catch and lift the small paymentsign with stand, then turn it to show the QR code.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to view the qrcode.", + "Locate the paymentsign with glossy blue panel, pick it up, and adjust its angle.", + "Grab the paymentsign with angled black stand, lift it from the table, and rotate it QR front", + "Use the left arm to lift the tabletop paymentsign from the table and face the qrcode.", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to show the QR code.", + "Catch the paymentsign for scanning QR codes off the table and rotate its qrcode to you.", + "Use the left arm to lift the rectangular plastic paymentsign with codes and rotate it QR code toward you.", + "Grab the blue and white paymentsign using the left arm, then rotate the QR code to face forward.", + "Lift the rectangular plastic paymentsign from the table and rotate it so the code faces you.", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Lift the paymentsign with glossy blue panel with the left arm, then rotate it to make the qrcode visible.", + "Catch the blue and white rectangular paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to pick the small paymentsign with stand and turn it towards you.", + "Employ the left arm to seize the blue and white paymentsign, raise it, and rotate it QR-forward", + "Lift the paymentsign for scanning QR codes and rotate for its qrcode to face you.", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Grab the small paymentsign with stand using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the paymentsign with glossy blue panel and rotate QR code towards you.", + "Use the left arm to grab the small glossy paymentsign and point its QR code toward you.", + "Lift the rectangular plastic paymentsign with codes from the table and turn it to face you.", + "Pick up the small glossy paymentsign and rotate it so the QR code faces you", + "Use the left arm to take the smooth surface paymentsign and turn it until the QR code faces you", + "Lift the paymentsign for scanning QR codes from the table and rotate it towards you", + "Catch the rectangular plastic paymentsign with codes, raise it, and turn it so the QR code faces you", + "Catch the paymentsign with glossy blue panel with the left arm, then rotate it to make the QR code visible.", + "Grab the paymentsign with angled black stand using the left arm, then rotate it until the qrcode faces you.", + "Pick the rectangular plastic paymentsign with codes up and turn its QR code toward you using the left arm.", + "Take the paymentsign with printed QR codes from the table, rotating it QR code toward you.", + "Lift the small paymentsign with stand from the table, turning it QR code forward.", + "Grab the paymentsign with printed QR codes with the left arm, then rotate it to face yourself.", + "Use the left arm to grab the small glossy paymentsign and rotate it until the QR faces forward", + "Use the left arm to grab the blue and white rectangular paymentsign, lift, and turn it QR code forward", + "Grab the smooth surface paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the rectangular plastic paymentsign with codes from the surface and adjust its angle towards you", + "Use the left arm to grab the rectangular plastic paymentsign and rotate the qrcode to face you.", + "Catch the paymentsign for scanning QR codes, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the small paymentsign with stand, rotate, and face the QR code towards you.", + "Pick the blue and white rectangular paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign with printed QR codes and orient its QR code toward you with the left arm.", + "Using the left arm, catch the rectangular plastic paymentsign and rotate it to face the QR code.", + "Catch the paymentsign for scanning QR codes, lift it, and rotate it QR code facing.", + "Take the smooth surface paymentsign, lift it, and orient it so the QR faces you", + "Slide the rectangular plastic paymentsign with codes off the table and turn it to face you.", + "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.", + "Lift the rectangular plastic paymentsign with codes and rotate it until the QR code faces you.", + "Find the blue and white rectangular paymentsign, grab it, and turn it towards yourself.", + "Take the smooth surface paymentsign, raise it, and make the qrcode face you.", + "Catch the paymentsign with glossy blue panel, lift, and rotate to align the qrcode to you." + ], + "unseen": [ + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode43.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..53300bc64ba1f1e3b7c9da648839a6db2fe42f6a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray slanted panel with text, raise it, and make the qrcode face you.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Lift the small payment stand with black base and orient its QR code toward you with the left arm.", + "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.", + "Catch the triangular stand with QR code, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the small black stand for payments from the table and face the qrcode.", + "Catch and lift the small payment stand with black base, then turn it to show the QR code.", + "Lift the small black stand for payments and rotate for its qrcode to face you.", + "Pick the payment sign with angled face up, then rotate to make its qrcode visible.", + "Lift the triangular stand with QR code from the table and turn it to face you.", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Catch the triangular stand with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Use the left arm to grab the gray slanted panel with text and rotate it until the QR faces forward", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Lift the gray top with QR code from the table, turning it QR code forward.", + "Lift the payment sign with angled face from the table and rotate it towards you", + "Use the left arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Slide the gray slanted panel with text off the table and turn it to face you.", + "Pick up the gray slanted panel with text and rotate it so the QR code faces you", + "Using the left arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Use the left arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the gray top with QR code, raise it, and rotate it QR-forward", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the left arm.", + "Grab the payment sign with angled face, pick it up, and turn its qrcode toward you.", + "Pick up the paymentsign and adjust its position to face the qrcode towards you.", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Use the left arm to grab the green payment logo on gray top, rotate, and face the QR code towards you.", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the gray slanted panel with text and point its QR code toward you.", + "Catch the small black stand for payments, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the gray slanted panel with text and rotate QR code towards you.", + "Use the left arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Catch the tabletop-sized payment sign off the table and rotate its qrcode to you.", + "Lift the payment sign with angled face with the left arm, then rotate it to make the qrcode visible.", + "Catch the small payment stand with black base, lift it, and rotate it QR code facing.", + "Use the left arm to pick the green payment logo on gray top and turn it towards you.", + "Find the slanted gray panel for QR code scan, grab it, and turn it towards yourself.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Pick the black base with tilted gray panel up, rotate it, and ensure the QR code faces you.", + "Grab the green payment logo on gray top using the left arm, lift, and rotate until QR code faces you.", + "Catch the gray slanted panel with text with the left arm, then rotate it to make the QR code visible.", + "Grab the black base with tilted gray panel using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the payment sign with green logo, lift, and turn it QR code forward", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Grab the black base with tilted gray panel, lift it from the table, and rotate it QR front", + "Take the black base with tilted gray panel, raise it, and make the qrcode face you.", + "Lift the gray top with QR code from the surface and adjust its angle towards you", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Lift the slanted gray panel for QR code scan and orient its QR code toward you with the left arm.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the small payment stand with black base from the table and face the qrcode.", + "Catch and lift the green payment logo on gray top, then turn it to show the QR code.", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Lift the tabletop-sized payment sign from the table and turn it to face you.", + "Grab the triangular stand with QR code with the left arm, then rotate it to face yourself.", + "Catch the small payment stand with black base using the left arm, pick it up, and turn it to face the QR code.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Use the left arm to grab the green payment logo on gray top and rotate it until the QR faces forward", + "Grab the small black stand for payments using the left arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Lift the payment sign with angled face from the table and rotate it towards you", + "Use the left arm to grab the green payment logo on gray top and rotate the qrcode to face you.", + "Slide the green payment logo on gray top off the table and turn it to face you.", + "Pick up the triangular stand with QR code and rotate it so the QR code faces you", + "Using the left arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Locate the small payment stand with black base, pick it up, and adjust its angle.", + "Use the left arm to lift the gray top with QR code and rotate it QR code toward you.", + "Catch the payment sign with angled face, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the payment sign with green logo, raise it, and rotate it QR-forward", + "Pick the paymentsign up and turn its QR code toward you using the left arm.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Catch the triangular stand with QR code, lift it, and turn the qrcode towards you.", + "Lift the black base with tilted gray panel and rotate it until the QR code faces you.", + "Use the left arm to grab the black base with tilted gray panel, rotate, and face the QR code towards you.", + "Take the black base with tilted gray panel, lift it, and orient it so the QR faces you", + "Use the left arm to grab the green payment logo on gray top and point its QR code toward you.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the gray slanted panel with text and rotate QR code towards you.", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Catch the slanted gray panel for QR code scan off the table and rotate its qrcode to you.", + "Lift the black base with tilted gray panel with the left arm, then rotate it to make the qrcode visible.", + "Catch the payment sign with angled face, lift it, and rotate it QR code facing.", + "Use the left arm to pick the small payment stand with black base and turn it towards you.", + "Find the gray top with QR code, grab it, and turn it towards yourself.", + "Catch the small black stand for payments, lift, and rotate to align the qrcode to you.", + "Pick the gray top with QR code up, rotate it, and ensure the QR code faces you.", + "Grab the gray slanted panel with text using the left arm, lift, and rotate until QR code faces you.", + "Catch the triangular stand with QR code with the left arm, then rotate it to make the QR code visible.", + "Grab the slanted gray panel for QR code scan using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Take the black base with tilted gray panel from the table, rotating it QR code toward you.", + "Grab the paymentsign, lift it from the table, and rotate it QR front" + ], + "unseen": [ + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode44.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..77dec3d413579aeb993ed9a5c9ecdb4745b72a3b --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to take the payment sign with angled face and turn it until the QR code faces you", + "Lift the green payment logo on gray top from the table and rotate it towards you", + "Slide the payment sign with angled face off the table and turn it to face you.", + "Lift the green payment logo on gray top and rotate it until the QR code faces you.", + "Use the left arm to grab the green payment logo on gray top and rotate the qrcode to face you.", + "Catch and lift the tabletop-sized payment sign, then turn it to show the QR code.", + "Catch the tabletop-sized payment sign, lift, and rotate to align the qrcode to you.", + "Lift the small payment stand with black base with the left arm, then rotate it to make the qrcode visible.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Using the left arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Use the left arm to grab the small black stand for payments and point its QR code toward you.", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Lift the tabletop-sized payment sign from the table and turn it to face you.", + "Catch the payment sign with green logo using the left arm, pick it up, and turn it to face the QR code.", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Grab the small black stand for payments using the left arm, then rotate the QR code to face forward.", + "Catch the gray slanted panel with text, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the triangular stand with QR code from the table and face the qrcode.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Find the gray top with QR code, grab it, and turn it towards yourself.", + "Use the left arm to pick the payment sign with angled face and turn it towards you.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Catch the slanted gray panel for QR code scan, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the gray top with QR code, lift, and turn it QR code forward", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Use the left arm to lift the gray top with QR code and rotate it QR code toward you.", + "Catch the green payment logo on gray top with the left arm, then rotate it to make the QR code visible.", + "Lift the triangular stand with QR code from the table, turning it QR code forward.", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Pick the slanted gray panel for QR code scan up, then rotate to make its qrcode visible.", + "Lift the slanted gray panel for QR code scan from the table and rotate it so the code faces you.", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Catch the gray slanted panel with text, lift it, and adjust its QR code to face you.", + "Catch the triangular stand with QR code, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Grab the triangular stand with QR code using the left arm, lift, and rotate until QR code faces you.", + "Pick up the black base with tilted gray panel and adjust its position to face the qrcode towards you.", + "Catch the black base with tilted gray panel off the table and rotate its qrcode to you.", + "Use the left arm to grab the paymentsign and rotate QR code towards you.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Take the gray slanted panel with text, raise it, and make the qrcode face you.", + "Lift the payment sign with green logo and orient its QR code toward you with the left arm.", + "Lift the green payment logo on gray top and rotate until its qrcode faces you.", + "Pick up the payment sign with angled face and rotate it so the QR code faces you", + "Grab the triangular stand with QR code with the left arm, then rotate it to face yourself.", + "Use the left arm to take the paymentsign and turn it until the QR code faces you", + "Lift the green payment logo on gray top from the table and rotate it towards you", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Lift the black base with tilted gray panel and rotate it until the QR code faces you.", + "Use the left arm to grab the payment sign with green logo and rotate the qrcode to face you.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Catch the green payment logo on gray top, lift, and rotate to align the qrcode to you.", + "Lift the slanted gray panel for QR code scan with the left arm, then rotate it to make the qrcode visible.", + "Grab the slanted gray panel for QR code scan, lift it from the table, and rotate it QR front", + "Using the left arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Use the left arm to grab the black base with tilted gray panel and point its QR code toward you.", + "Take the payment sign with angled face, lift it, and orient it so the QR faces you", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Catch the gray slanted panel with text using the left arm, pick it up, and turn it to face the QR code.", + "Employ the left arm to seize the small black stand for payments, raise it, and rotate it QR-forward", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Grab the black base with tilted gray panel using the left arm, then rotate the QR code to face forward.", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the gray slanted panel with text from the table and face the qrcode.", + "Pick the paymentsign up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the small payment stand with black base, rotate, and face the QR code towards you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Use the left arm to pick the small payment stand with black base and turn it towards you.", + "Grab the black base with tilted gray panel using the left arm, then rotate it until the qrcode faces you.", + "Catch the small black stand for payments, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Locate the green payment logo on gray top, pick it up, and adjust its angle.", + "Use the left arm to lift the triangular stand with QR code and rotate it QR code toward you.", + "Catch the gray slanted panel with text with the left arm, then rotate it to make the QR code visible.", + "Lift the gray top with QR code from the table, turning it QR code forward.", + "Lift the tabletop-sized payment sign and rotate for its qrcode to face you.", + "Catch the small payment stand with black base, lift it, and rotate it QR code facing.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Grab the payment sign with angled face, pick it up, and turn its qrcode toward you.", + "Catch the small black stand for payments, lift it, and adjust its QR code to face you.", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate it until the QR faces forward", + "Grab the green payment logo on gray top using the left arm, lift, and rotate until QR code faces you.", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Catch the payment sign with green logo off the table and rotate its qrcode to you.", + "Use the left arm to grab the tabletop-sized payment sign and rotate QR code towards you.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Take the gray slanted panel with text, raise it, and make the qrcode face you.", + "Lift the payment sign with angled face and orient its QR code toward you with the left arm.", + "Lift the payment sign with angled face and rotate until its qrcode faces you.", + "Pick up the small payment stand with black base and rotate it so the QR code faces you", + "Grab the paymentsign with the left arm, then rotate it to face yourself." + ], + "unseen": [ + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode45.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..73b47f2edcb62cf06ffb8e4e0ce9ef78dea1ee2a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the smooth plastic paymentsign with QR code and turn it towards you.", + "Use the right arm to lift the yellow panel white paymentsign and rotate it QR code toward you.", + "Grab the yellow and white payment display using the right arm, then rotate it until the qrcode faces you.", + "Catch the white rectangular paymentsign with yellow details, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the plastic smooth paymentsign and rotate the qrcode to face you.", + "Pick up the white stand sign and adjust its position to face the qrcode towards you.", + "Grab the paymentsign with the right arm, then rotate it to face yourself.", + "Grab the white rectangular paymentsign with yellow details using the right arm, lift, and rotate until QR code faces you.", + "Using the right arm, catch the white rectangular paymentsign with yellow details and rotate it to face the QR code.", + "Pick up the white rectangular paymentsign with yellow details and rotate it so the QR code faces you", + "Catch the plastic smooth paymentsign, lift, and rotate to align the qrcode to you.", + "Grab the tabletop paymentsign, lift it from the table, and rotate it QR front", + "Grab the sign with yellow payment section, pick it up, and turn its qrcode toward you.", + "Catch the yellow and white payment display, pick it up, and rotate to view the qrcode.", + "Lift the sign with yellow payment section with the right arm, then rotate it to make the qrcode visible.", + "Locate the white stand sign, pick it up, and adjust its angle.", + "Catch the sign with yellow payment section, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Employ the right arm to seize the white rectangular paymentsign with yellow details, raise it, and rotate it QR-forward", + "Use the right arm to take the white rectangular paymentsign with yellow details and turn it until the QR code faces you", + "Catch the paymentsign with QR code area with the right arm, then rotate it to make the QR code visible.", + "Grab the paymentsign with QR code area using the right arm, then rotate the QR code to face forward.", + "Use the right arm to lift the white rectangular paymentsign with yellow details from the table and face the qrcode.", + "Lift the white paymentsign with raised base and rotate for its qrcode to face you.", + "Lift the paymentsign and orient its QR code toward you with the right arm.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Take the paymentsign with QR code area, raise it, and make the qrcode face you.", + "Pick the sign with yellow payment section up and turn its QR code toward you using the right arm.", + "Slide the yellow panel white paymentsign off the table and turn it to face you.", + "Pick the white paymentsign with raised base up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Lift the white rectangular paymentsign with yellow details from the table, turning it QR code forward.", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Lift the white rectangular paymentsign with yellow details from the table and rotate it towards you", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate QR code towards you.", + "Catch the yellow panel white paymentsign, raise it, and turn it so the QR code faces you", + "Catch the rectangular paymentsign with stand, lift it, and rotate it QR code facing.", + "Catch the paymentsign with QR code area off the table and rotate its qrcode to you.", + "Use the right arm to grab the yellow and white payment display and rotate it until the QR faces forward", + "Pick the white rectangular paymentsign with yellow details up, then rotate to make its qrcode visible.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Lift the yellow and white payment display and rotate until its qrcode faces you.", + "Lift the tabletop paymentsign from the table and turn it to face you.", + "Lift the white stand sign and rotate it until the QR code faces you.", + "Use the right arm to grab the sign with yellow payment section, rotate, and face the QR code towards you.", + "Use the right arm to grab the yellow and white payment display and point its QR code toward you.", + "Catch and lift the plastic smooth paymentsign, then turn it to show the QR code.", + "Use the right arm to grab the paymentsign, lift, and turn it QR code forward", + "Catch the white paymentsign with raised base using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to pick the paymentsign and turn it towards you.", + "Use the right arm to lift the white rectangular paymentsign with yellow details and rotate it QR code toward you.", + "Grab the white paymentsign with raised base using the right arm, then rotate it until the qrcode faces you.", + "Catch the yellow panel white paymentsign, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate the qrcode to face you.", + "Pick up the white rectangular paymentsign with yellow details and adjust its position to face the qrcode towards you.", + "Grab the white paymentsign with raised base with the right arm, then rotate it to face yourself.", + "Grab the tabletop paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Using the right arm, catch the sign with yellow payment section and rotate it to face the QR code.", + "Pick up the white stand sign and rotate it so the QR code faces you", + "Catch the rectangular paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Grab the rectangular paymentsign with stand, lift it from the table, and rotate it QR front", + "Grab the plastic smooth paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to view the qrcode.", + "Lift the smooth plastic paymentsign with QR code with the right arm, then rotate it to make the qrcode visible.", + "Locate the yellow and white payment display, pick it up, and adjust its angle.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to show the QR code.", + "Lift the smooth plastic paymentsign with QR code from the surface and adjust its angle towards you", + "Take the white rectangular paymentsign with yellow details, lift it, and orient it so the QR faces you", + "Employ the right arm to seize the white paymentsign with raised base, raise it, and rotate it QR-forward", + "Use the right arm to take the smooth plastic paymentsign with QR code and turn it until the QR code faces you", + "Catch the tabletop paymentsign with the right arm, then rotate it to make the QR code visible.", + "Grab the sign with yellow payment section using the right arm, then rotate the QR code to face forward.", + "Use the right arm to lift the paymentsign with QR code area from the table and face the qrcode.", + "Lift the smooth plastic paymentsign with QR code and rotate for its qrcode to face you.", + "Lift the paymentsign with QR code area and orient its QR code toward you with the right arm.", + "Find the plastic smooth paymentsign, grab it, and turn it towards yourself.", + "Take the yellow and white payment display, raise it, and make the qrcode face you.", + "Pick the white paymentsign with raised base up and turn its QR code toward you using the right arm.", + "Slide the white stand sign off the table and turn it to face you.", + "Pick the yellow and white payment display up, rotate it, and ensure the QR code faces you.", + "Lift the tabletop paymentsign from the table and rotate it so the code faces you.", + "Lift the sign with yellow payment section from the table, turning it QR code forward.", + "Catch the paymentsign with QR code area, lift it, and adjust its QR code to face you.", + "Lift the plastic smooth paymentsign from the table and rotate it towards you", + "Use the right arm to grab the paymentsign with QR code area and rotate QR code towards you.", + "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you", + "Catch the tabletop paymentsign, lift it, and rotate it QR code facing.", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Use the right arm to grab the rectangular paymentsign with stand and rotate it until the QR faces forward", + "Pick the white paymentsign with raised base up, then rotate to make its qrcode visible.", + "Take the white rectangular paymentsign with yellow details from the table, rotating it QR code toward you.", + "Lift the smooth plastic paymentsign with QR code and rotate until its qrcode faces you.", + "Lift the yellow and white payment display from the table and turn it to face you.", + "Lift the plastic smooth paymentsign and rotate it until the QR code faces you.", + "Use the right arm to grab the yellow and white payment display, rotate, and face the QR code towards you.", + "Use the right arm to grab the paymentsign and point its QR code toward you.", + "Catch and lift the white paymentsign with raised base, then turn it to show the QR code.", + "Use the right arm to grab the yellow and white payment display, lift, and turn it QR code forward", + "Catch the white stand sign using the right arm, pick it up, and turn it to face the QR code." + ], + "unseen": [ + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode46.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..3eb33820028fc67eb2e3017f473ef360f90ab341 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the paymentsign with QR code area off the table and rotate its qrcode to you.", + "Locate the white stand sign, pick it up, and adjust its angle.", + "Catch the white paymentsign with raised base with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the smooth plastic paymentsign with QR code, lift, and turn it QR code forward", + "Grab the rectangular paymentsign with stand using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to pick the white paymentsign with raised base and turn it towards you.", + "Use the left arm to grab the sign with yellow payment section, rotate, and face the QR code towards you.", + "Employ the left arm to seize the rectangular paymentsign with stand, raise it, and rotate it QR-forward", + "Catch the rectangular paymentsign with stand, lift it, and rotate it QR code facing.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it so the code faces you.", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Lift the rectangular paymentsign with stand from the table, turning it QR code forward.", + "Pick the white stand sign up, then rotate to make its qrcode visible.", + "Catch the white rectangular paymentsign with yellow details, lift it, and turn the qrcode towards you.", + "Catch the white paymentsign with raised base, pick it up, and rotate to show the QR code.", + "Pick up the plastic smooth paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to take the white rectangular paymentsign with yellow details and turn it until the QR code faces you", + "Use the left arm to grab the tabletop paymentsign and rotate QR code towards you.", + "Lift the white paymentsign with raised base and orient its QR code toward you with the left arm.", + "Use the left arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Lift the yellow and white payment display with the left arm, then rotate it to make the qrcode visible.", + "Take the white paymentsign with raised base from the table, rotating it QR code toward you.", + "Take the yellow panel white paymentsign, lift it, and orient it so the QR faces you", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Lift the white paymentsign with raised base and rotate it until the QR code faces you.", + "Grab the yellow panel white paymentsign with the left arm, then rotate it to face yourself.", + "Use the left arm to lift the paymentsign from the table and face the qrcode.", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Catch the white paymentsign with raised base, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Find the rectangular paymentsign with stand, grab it, and turn it towards yourself.", + "Use the left arm to grab the yellow and white payment display and rotate it until the QR faces forward", + "Using the left arm, catch the rectangular paymentsign with stand and rotate it to face the QR code.", + "Lift the rectangular paymentsign with stand and rotate until its qrcode faces you.", + "Grab the white stand sign, pick it up, and turn its qrcode toward you.", + "Catch the white stand sign, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the rectangular paymentsign with stand and point its QR code toward you.", + "Grab the yellow and white payment display, lift it from the table, and rotate it QR front", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Slide the smooth plastic paymentsign with QR code off the table and turn it to face you.", + "Lift the sign with yellow payment section from the surface and adjust its angle towards you", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Pick the paymentsign with QR code area up and turn its QR code toward you using the left arm.", + "Catch the white stand sign, lift, and rotate to align the qrcode to you.", + "Pick up the plastic smooth paymentsign and rotate it so the QR code faces you", + "Grab the white stand sign using the left arm, then rotate the QR code to face forward.", + "Catch the yellow panel white paymentsign, lift it, and adjust its QR code to face you.", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Catch the tabletop paymentsign off the table and rotate its qrcode to you.", + "Locate the white paymentsign with raised base, pick it up, and adjust its angle.", + "Catch the sign with yellow payment section with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the white paymentsign with raised base, lift, and turn it QR code forward", + "Grab the tabletop paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to pick the white rectangular paymentsign with yellow details and turn it towards you.", + "Use the left arm to grab the plastic smooth paymentsign, rotate, and face the QR code towards you.", + "Employ the left arm to seize the yellow panel white paymentsign, raise it, and rotate it QR-forward", + "Catch the sign with yellow payment section, lift it, and rotate it QR code facing.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it so the code faces you.", + "Grab the white rectangular paymentsign with yellow details using the left arm, lift, and rotate until QR code faces you.", + "Lift the white rectangular paymentsign with yellow details from the table, turning it QR code forward.", + "Pick the yellow and white payment display up, then rotate to make its qrcode visible.", + "Catch the plastic smooth paymentsign, lift it, and turn the qrcode towards you.", + "Catch the yellow and white payment display, pick it up, and rotate to show the QR code.", + "Pick up the plastic smooth paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to take the white stand sign and turn it until the QR code faces you", + "Use the left arm to grab the yellow panel white paymentsign and rotate QR code towards you.", + "Lift the rectangular paymentsign with stand and orient its QR code toward you with the left arm.", + "Use the left arm to lift the sign with yellow payment section and rotate it QR code toward you.", + "Lift the plastic smooth paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Take the white stand sign from the table, rotating it QR code toward you.", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Take the yellow panel white paymentsign, raise it, and make the qrcode face you.", + "Lift the plastic smooth paymentsign from the table and rotate it towards you", + "Lift the white paymentsign with raised base and rotate it until the QR code faces you.", + "Grab the plastic smooth paymentsign with the left arm, then rotate it to face yourself.", + "Use the left arm to lift the white paymentsign with raised base from the table and face the qrcode.", + "Catch the rectangular paymentsign with stand using the left arm, pick it up, and turn it to face the QR code.", + "Catch and lift the paymentsign with QR code area, then turn it to show the QR code.", + "Catch the yellow panel white paymentsign, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate the qrcode to face you.", + "Find the yellow and white payment display, grab it, and turn it towards yourself.", + "Use the left arm to grab the paymentsign with QR code area and rotate it until the QR faces forward", + "Using the left arm, catch the rectangular paymentsign with stand and rotate it to face the QR code.", + "Lift the white rectangular paymentsign with yellow details and rotate until its qrcode faces you.", + "Grab the smooth plastic paymentsign with QR code, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the white paymentsign with raised base and point its QR code toward you.", + "Grab the smooth plastic paymentsign with QR code, lift it from the table, and rotate it QR front", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Slide the yellow and white payment display off the table and turn it to face you.", + "Lift the sign with yellow payment section from the surface and adjust its angle towards you", + "Lift the white rectangular paymentsign with yellow details and rotate for its qrcode to face you.", + "Pick the yellow panel white paymentsign up and turn its QR code toward you using the left arm.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Pick up the plastic smooth paymentsign and rotate it so the QR code faces you", + "Grab the white rectangular paymentsign with yellow details using the left arm, then rotate the QR code to face forward.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Lift the smooth plastic paymentsign with QR code from the table and turn it to face you." + ], + "unseen": [ + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode47.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..ce6d8dfdd56d7dd5cc5da9b960fd7928fbb0db6c --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the small payment stand with black base, lift it, and turn the qrcode towards you.", + "Grab the payment sign with angled face using the left arm, then rotate the QR code to face forward.", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Using the left arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Pick up the slanted gray panel for QR code scan and rotate it so the QR code faces you", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Take the slanted gray panel for QR code scan from the table, rotating it QR code toward you.", + "Catch the gray slanted panel with text using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Lift the triangular stand with QR code from the table and rotate it towards you", + "Catch the gray top with QR code, lift, and rotate to align the qrcode to you.", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Lift the payment sign with green logo and rotate until its qrcode faces you.", + "Catch the small payment stand with black base, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Catch the small payment stand with black base, lift it, and rotate it QR code facing.", + "Grab the small payment stand with black base using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to lift the small black stand for payments and rotate it QR code toward you.", + "Pick the small black stand for payments up, rotate it, and ensure the QR code faces you.", + "Employ the left arm to seize the black base with tilted gray panel, raise it, and rotate it QR-forward", + "Use the left arm to grab the gray slanted panel with text and rotate it until the QR faces forward", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Lift the tabletop-sized payment sign with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the triangular stand with QR code and rotate QR code towards you.", + "Lift the triangular stand with QR code and orient its QR code toward you with the left arm.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the left arm.", + "Grab the payment sign with angled face using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the small black stand for payments, rotate, and face the QR code towards you.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Use the left arm to lift the gray slanted panel with text from the table and face the qrcode.", + "Grab the gray top with QR code with the left arm, then rotate it to face yourself.", + "Find the small black stand for payments, grab it, and turn it towards yourself.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Use the left arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Pick up the green payment logo on gray top and adjust its position to face the qrcode towards you.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Catch and lift the small black stand for payments, then turn it to show the QR code.", + "Locate the gray top with QR code, pick it up, and adjust its angle.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to pick the slanted gray panel for QR code scan and turn it towards you.", + "Use the left arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Grab the gray top with QR code using the left arm, then rotate the QR code to face forward.", + "Lift the gray top with QR code from the table, turning it QR code forward.", + "Using the left arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Lift the tabletop-sized payment sign from the table and rotate it so the code faces you.", + "Catch the payment sign with green logo, raise it, and turn it so the QR code faces you", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Take the gray top with QR code from the table, rotating it QR code toward you.", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the slanted gray panel for QR code scan and point its QR code toward you.", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Catch the green payment logo on gray top, lift, and rotate to align the qrcode to you.", + "Catch the gray top with QR code, lift it, and adjust its QR code to face you.", + "Take the gray top with QR code, lift it, and orient it so the QR faces you", + "Lift the green payment logo on gray top and rotate until its qrcode faces you.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the payment sign with green logo and rotate the qrcode to face you.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Lift the payment sign with green logo and rotate for its qrcode to face you.", + "Catch the gray slanted panel with text, lift it, and rotate it QR code facing.", + "Grab the gray slanted panel with text using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to lift the triangular stand with QR code and rotate it QR code toward you.", + "Pick the green payment logo on gray top up, rotate it, and ensure the QR code faces you.", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Use the left arm to grab the small payment stand with black base and rotate it until the QR faces forward", + "Grab the triangular stand with QR code, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the small payment stand with black base and rotate QR code towards you.", + "Lift the gray slanted panel with text and orient its QR code toward you with the left arm.", + "Pick the payment sign with angled face up and turn its QR code toward you using the left arm.", + "Grab the small payment stand with black base using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the gray top with QR code, rotate, and face the QR code towards you.", + "Pick the black base with tilted gray panel up, then rotate to make its qrcode visible.", + "Use the left arm to lift the payment sign with green logo from the table and face the qrcode.", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Find the small payment stand with black base, grab it, and turn it towards yourself.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Catch the gray slanted panel with text off the table and rotate its qrcode to you.", + "Slide the gray slanted panel with text off the table and turn it to face you.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Pick up the tabletop-sized payment sign and adjust its position to face the qrcode towards you.", + "Catch the gray top with QR code, pick it up, and rotate to show the QR code.", + "Lift the payment sign with green logo from the table and turn it to face you.", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Catch and lift the triangular stand with QR code, then turn it to show the QR code.", + "Locate the tabletop-sized payment sign, pick it up, and adjust its angle.", + "Catch the slanted gray panel for QR code scan with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to pick the black base with tilted gray panel and turn it towards you.", + "Use the left arm to take the gray top with QR code and turn it until the QR code faces you" + ], + "unseen": [ + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode48.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..eae2a664c3a19a5cb966cf5dcb1cff5dd32635b5 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Use the left arm to pick the small black stand for payments and turn it towards you.", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Grab the green payment logo on gray top, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the payment sign with angled face and rotate QR code towards you.", + "Lift the black base with tilted gray panel from the table, turning it QR code forward.", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Pick the small payment stand with black base up and turn its QR code toward you using the left arm.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Find the gray slanted panel with text, grab it, and turn it towards yourself.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Use the left arm to lift the payment sign with green logo from the table and face the qrcode.", + "Catch the payment sign with angled face, lift it, and turn the qrcode towards you.", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Catch the tabletop-sized payment sign off the table and rotate its qrcode to you.", + "Take the payment sign with green logo, lift it, and orient it so the QR faces you", + "Lift the gray slanted panel with text and rotate until its qrcode faces you.", + "Use the left arm to grab the small black stand for payments, rotate, and face the QR code towards you.", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Pick the black base with tilted gray panel up, rotate it, and ensure the QR code faces you.", + "Using the left arm, catch the black base with tilted gray panel and rotate it to face the QR code.", + "Pick up the paymentsign and rotate it so the QR code faces you", + "Use the left arm to take the triangular stand with QR code and turn it until the QR code faces you", + "Take the slanted gray panel for QR code scan from the table, rotating it QR code toward you.", + "Catch the small black stand for payments with the left arm, then rotate it to make the QR code visible.", + "Catch the payment sign with green logo, raise it, and turn it so the QR code faces you", + "Grab the gray slanted panel with text using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Grab the gray top with QR code with the left arm, then rotate it to face yourself.", + "Grab the black base with tilted gray panel using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Lift the gray slanted panel with text and orient its QR code toward you with the left arm.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Lift the black base with tilted gray panel and rotate it until the QR code faces you.", + "Employ the left arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Lift the tabletop-sized payment sign and rotate for its qrcode to face you.", + "Use the left arm to grab the small black stand for payments, lift, and turn it QR code forward", + "Grab the tabletop-sized payment sign using the left arm, lift, and rotate until QR code faces you.", + "Locate the gray slanted panel with text, pick it up, and adjust its angle.", + "Lift the green payment logo on gray top from the table and rotate it towards you", + "Take the triangular stand with QR code, raise it, and make the qrcode face you.", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Catch the slanted gray panel for QR code scan, lift it, and rotate it QR code facing.", + "Slide the paymentsign off the table and turn it to face you.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the payment sign with green logo with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the black base with tilted gray panel and rotate it until the QR faces forward", + "Use the left arm to pick the green payment logo on gray top and turn it towards you.", + "Use the left arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the gray top with QR code and rotate QR code towards you.", + "Lift the green payment logo on gray top from the table, turning it QR code forward.", + "Catch the slanted gray panel for QR code scan using the left arm, pick it up, and turn it to face the QR code.", + "Pick the green payment logo on gray top up and turn its QR code toward you using the left arm.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Find the payment sign with green logo, grab it, and turn it towards yourself.", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Use the left arm to lift the small payment stand with black base from the table and face the qrcode.", + "Catch the triangular stand with QR code, lift it, and turn the qrcode towards you.", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Take the payment sign with green logo, lift it, and orient it so the QR faces you", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Use the left arm to grab the payment sign with green logo, rotate, and face the QR code towards you.", + "Catch the triangular stand with QR code, pick it up, and rotate to show the QR code.", + "Pick the slanted gray panel for QR code scan up, rotate it, and ensure the QR code faces you.", + "Using the left arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Pick up the small payment stand with black base and rotate it so the QR code faces you", + "Use the left arm to take the paymentsign and turn it until the QR code faces you", + "Take the black base with tilted gray panel from the table, rotating it QR code toward you.", + "Catch the payment sign with angled face with the left arm, then rotate it to make the QR code visible.", + "Catch the green payment logo on gray top, raise it, and turn it so the QR code faces you", + "Grab the black base with tilted gray panel using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the black base with tilted gray panel and point its QR code toward you.", + "Grab the black base with tilted gray panel with the left arm, then rotate it to face yourself.", + "Grab the small payment stand with black base using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to lift the small black stand for payments and rotate it QR code toward you.", + "Lift the gray slanted panel with text and orient its QR code toward you with the left arm.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Lift the payment sign with angled face and rotate it until the QR code faces you.", + "Employ the left arm to seize the slanted gray panel for QR code scan, raise it, and rotate it QR-forward", + "Lift the green payment logo on gray top from the surface and adjust its angle towards you", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Use the left arm to grab the gray slanted panel with text, lift, and turn it QR code forward", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Locate the payment sign with angled face, pick it up, and adjust its angle.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Take the payment sign with green logo, raise it, and make the qrcode face you.", + "Pick the slanted gray panel for QR code scan up, then rotate to make its qrcode visible.", + "Lift the tabletop-sized payment sign from the table and turn it to face you.", + "Pick up the black base with tilted gray panel and adjust its position to face the qrcode towards you.", + "Catch the payment sign with angled face, lift it, and rotate it QR code facing.", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Catch the payment sign with angled face, lift, and rotate to align the qrcode to you.", + "Lift the gray slanted panel with text with the left arm, then rotate it to make the qrcode visible." + ], + "unseen": [ + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode49.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..ace0df24fbc1edc41764a18298353940a679cbb0 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the small glossy paymentsign up, then rotate to make its qrcode visible.", + "Lift the rectangular plastic paymentsign with codes from the table, turning it QR code forward.", + "Locate the paymentsign with printed QR codes, pick it up, and adjust its angle.", + "Use the right arm to pick the paymentsign with angled black stand and turn it towards you.", + "Grab the smooth surface paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the blue and white paymentsign and orient its QR code toward you with the right arm.", + "Catch the small paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign with glossy blue panel from the table and rotate it so the code faces you.", + "Grab the small paymentsign with stand with the right arm, then rotate it to face yourself.", + "Lift the paymentsign with printed QR codes and rotate it until the QR code faces you.", + "Lift the paymentsign for scanning QR codes from the table and turn it to face you.", + "Use the right arm to lift the paymentsign with printed QR codes and rotate it QR code toward you.", + "Find the small glossy paymentsign, grab it, and turn it towards yourself.", + "Catch the small glossy paymentsign, raise it, and turn it so the QR code faces you", + "Catch the paymentsign for scanning QR codes, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the small paymentsign with stand and rotate it until the QR faces forward", + "Lift the paymentsign with glossy blue panel and rotate for its qrcode to face you.", + "Catch the blue and white paymentsign, lift it, and rotate it QR code facing.", + "Lift the small paymentsign with stand and rotate until its qrcode faces you.", + "Catch the blue and white rectangular paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with printed QR codes, pick it up, and rotate to view the qrcode.", + "Slide the small paymentsign with stand off the table and turn it to face you.", + "Use the right arm to grab the small paymentsign with stand, rotate, and face the QR code towards you.", + "Use the right arm to grab the blue and white rectangular paymentsign and rotate QR code towards you.", + "Pick up the paymentsign for scanning QR codes and rotate it so the QR code faces you", + "Using the right arm, catch the small glossy paymentsign and rotate it to face the QR code.", + "Use the right arm to take the rectangular plastic paymentsign with codes and turn it until the QR code faces you", + "Lift the blue and white paymentsign from the table and rotate it towards you", + "Grab the blue and white paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the blue and white paymentsign and rotate the qrcode to face you.", + "Pick up the small paymentsign with stand and adjust its position to face the qrcode towards you.", + "Grab the blue and white paymentsign, lift it from the table, and rotate it QR front", + "Grab the paymentsign with glossy blue panel using the right arm, then rotate the QR code to face forward.", + "Lift the small paymentsign with stand with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign for scanning QR codes and point its QR code toward you.", + "Catch and lift the rectangular plastic paymentsign, then turn it to show the QR code.", + "Catch the paymentsign for scanning QR codes off the table and rotate its qrcode to you.", + "Catch the small paymentsign with stand with the right arm, then rotate it to make the QR code visible.", + "Take the small paymentsign with stand, raise it, and make the qrcode face you.", + "Catch the paymentsign for scanning QR codes, pick it up, and rotate to show the QR code.", + "Employ the right arm to seize the small glossy paymentsign, raise it, and rotate it QR-forward", + "Pick the blue and white paymentsign up and turn its QR code toward you using the right arm.", + "Take the small glossy paymentsign from the table, rotating it QR code toward you.", + "Grab the small paymentsign with stand using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the blue and white rectangular paymentsign from the table and face the qrcode.", + "Lift the rectangular plastic paymentsign with codes from the surface and adjust its angle towards you", + "Pick the paymentsign for scanning QR codes up, rotate it, and ensure the QR code faces you.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Catch the paymentsign with angled black stand, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Pick the blue and white paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign with printed QR codes from the table, turning it QR code forward.", + "Locate the small glossy paymentsign, pick it up, and adjust its angle.", + "Use the right arm to pick the paymentsign with printed QR codes and turn it towards you.", + "Grab the tabletop paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the smooth surface paymentsign and orient its QR code toward you with the right arm.", + "Catch the rectangular plastic paymentsign with codes, lift, and rotate to align the qrcode to you.", + "Lift the smooth surface paymentsign from the table and rotate it so the code faces you.", + "Grab the paymentsign for scanning QR codes with the right arm, then rotate it to face yourself.", + "Lift the paymentsign for scanning QR codes and rotate it until the QR code faces you.", + "Lift the paymentsign with printed QR codes from the table and turn it to face you.", + "Use the right arm to lift the paymentsign for scanning QR codes and rotate it QR code toward you.", + "Find the smooth surface paymentsign, grab it, and turn it towards yourself.", + "Catch the paymentsign with glossy blue panel, raise it, and turn it so the QR code faces you", + "Catch the paymentsign with printed QR codes, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the blue and white paymentsign and rotate it until the QR faces forward", + "Lift the blue and white rectangular paymentsign and rotate for its qrcode to face you.", + "Catch the small paymentsign with stand, lift it, and rotate it QR code facing.", + "Lift the blue and white rectangular paymentsign and rotate until its qrcode faces you.", + "Catch the paymentsign for scanning QR codes using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to view the qrcode.", + "Slide the paymentsign with angled black stand off the table and turn it to face you.", + "Use the right arm to grab the tabletop paymentsign, rotate, and face the QR code towards you.", + "Use the right arm to grab the paymentsign with angled black stand and rotate QR code towards you.", + "Pick up the blue and white paymentsign and rotate it so the QR code faces you", + "Using the right arm, catch the blue and white paymentsign and rotate it to face the QR code.", + "Use the right arm to take the small paymentsign with stand and turn it until the QR code faces you", + "Lift the paymentsign with glossy blue panel from the table and rotate it towards you", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Pick up the small glossy paymentsign and adjust its position to face the qrcode towards you.", + "Grab the blue and white paymentsign, lift it from the table, and rotate it QR front", + "Grab the smooth surface paymentsign using the right arm, then rotate the QR code to face forward.", + "Lift the paymentsign with angled black stand with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the rectangular plastic paymentsign and point its QR code toward you.", + "Catch and lift the blue and white paymentsign, then turn it to show the QR code.", + "Catch the paymentsign with glossy blue panel off the table and rotate its qrcode to you.", + "Catch the blue and white paymentsign with the right arm, then rotate it to make the QR code visible.", + "Take the paymentsign for scanning QR codes, raise it, and make the qrcode face you.", + "Catch the blue and white paymentsign, pick it up, and rotate to show the QR code.", + "Employ the right arm to seize the paymentsign for scanning QR codes, raise it, and rotate it QR-forward", + "Pick the paymentsign with angled black stand up and turn its QR code toward you using the right arm.", + "Take the blue and white rectangular paymentsign from the table, rotating it QR code toward you.", + "Grab the paymentsign with angled black stand using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the small paymentsign with stand from the table and face the qrcode.", + "Lift the paymentsign with printed QR codes from the surface and adjust its angle towards you", + "Pick the blue and white paymentsign up, rotate it, and ensure the QR code faces you.", + "Take the paymentsign with glossy blue panel, lift it, and orient it so the QR faces you", + "Catch the blue and white paymentsign, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the paymentsign with glossy blue panel, lift, and turn it QR code forward" + ], + "unseen": [ + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the QR code paymentsign from the table and make it face you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode5.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..a43df75ed0c58143173755bc8a24af436a98e1d9 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Employ the right arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward", + "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.", + "Use the right arm to take the small paymentsign for mobile payments and turn it until the QR code faces you", + "Catch the beige paymentsign with printed details, lift, and rotate to align the qrcode to you.", + "Grab the beige paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Grab the QR code paymentsign with the right arm, then rotate it to face yourself.", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the paymentsign resting on angled base, lift, and turn it QR code forward", + "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Catch the paymentsign resting on angled base off the table and rotate its qrcode to you.", + "Lift the QR code paymentsign from the table, turning it QR code forward.", + "Lift the beige paymentsign with printed details and rotate until its qrcode faces you.", + "Use the right arm to grab the paymentsign resting on angled base and rotate QR code towards you.", + "Grab the paymentsign with blue and white text using the right arm, lift, and rotate until QR code faces you.", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Pick up the compact paymentsign for scanning payments and rotate it so the QR code faces you", + "Use the right arm to pick the rectangular paymentsign with colorful top and turn it towards you.", + "Grab the paymentsign resting on angled base using the right arm, then rotate the QR code to face forward.", + "Use the right arm to lift the compact paymentsign for scanning payments from the table and face the qrcode.", + "Lift the small paymentsign for mobile payments and orient its QR code toward you with the right arm.", + "Catch the smooth beige paymentsign, pick it up, and rotate to view the qrcode.", + "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you", + "Grab the compact paymentsign for scanning payments, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, rotate, and face the QR code towards you.", + "Catch the beige paymentsign, lift it, and turn the qrcode towards you.", + "Catch the paymentsign resting on angled base with the right arm, then rotate it to make the QR code visible.", + "Lift the paymentsign resting on angled base with the right arm, then rotate it to make the qrcode visible.", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate the qrcode to face you.", + "Slide the beige paymentsign with printed details off the table and turn it to face you.", + "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Take the paymentsign with blue and white text, raise it, and make the qrcode face you.", + "Using the right arm, catch the paymentsign showing QR code label and rotate it to face the QR code.", + "Catch the QR code paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.", + "Grab the beige paymentsign, lift it from the table, and rotate it QR front", + "Use the right arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Locate the small paymentsign for mobile payments, pick it up, and adjust its angle.", + "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.", + "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you", + "Find the paymentsign with blue and white text, grab it, and turn it towards yourself.", + "Lift the rectangular paymentsign with colorful top from the table and turn it to face you.", + "Lift the smooth beige paymentsign and rotate for its qrcode to face you.", + "Use the right arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.", + "Use the right arm to grab the paymentsign with blue and white text and rotate it until the QR faces forward", + "Catch and lift the paymentsign resting on angled base, then turn it to show the QR code.", + "Take the paymentsign with tilted rectangular panel from the table, rotating it QR code toward you.", + "Lift the small paymentsign for mobile payments from the table and rotate it towards you", + "Employ the right arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to show the QR code.", + "Use the right arm to take the beige paymentsign and turn it until the QR code faces you", + "Catch the paymentsign with tilted rectangular panel, lift, and rotate to align the qrcode to you.", + "Grab the paymentsign with tilted rectangular panel using the right arm, then rotate it until the qrcode faces you.", + "Grab the compact paymentsign for scanning payments with the right arm, then rotate it to face yourself.", + "Pick the paymentsign resting on angled base up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the QR code paymentsign, lift, and turn it QR code forward", + "Catch the smooth beige paymentsign, lift it, and adjust its QR code to face you.", + "Pick up the beige paymentsign and adjust its position to face the qrcode towards you.", + "Catch the QR code paymentsign off the table and rotate its qrcode to you.", + "Lift the rectangular paymentsign with colorful top from the table, turning it QR code forward.", + "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.", + "Use the right arm to grab the beige paymentsign and rotate QR code towards you.", + "Grab the paymentsign showing QR code label using the right arm, lift, and rotate until QR code faces you.", + "Catch the beige paymentsign, lift it, and rotate it QR code facing.", + "Pick up the beige paymentsign and rotate it so the QR code faces you", + "Use the right arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Grab the smooth beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the right arm.", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to view the qrcode.", + "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the paymentsign showing QR code label, rotate, and face the QR code towards you.", + "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.", + "Catch the stand-up paymentsign with rectangular top with the right arm, then rotate it to make the QR code visible.", + "Lift the small paymentsign for mobile payments with the right arm, then rotate it to make the qrcode visible.", + "Lift the smooth beige paymentsign from the surface and adjust its angle towards you", + "Pick the rectangular paymentsign with colorful top up, then rotate to make its qrcode visible.", + "Use the right arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you.", + "Take the beige paymentsign with printed details, raise it, and make the qrcode face you.", + "Using the right arm, catch the QR code paymentsign and rotate it to face the QR code.", + "Catch the compact paymentsign for scanning payments using the right arm, pick it up, and turn it to face the QR code.", + "Lift the QR code paymentsign and rotate it until the QR code faces you.", + "Grab the beige paymentsign, lift it from the table, and rotate it QR front", + "Use the right arm to lift the paymentsign showing QR code label and rotate it QR code toward you.", + "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it so the code faces you.", + "Take the paymentsign resting on angled base, lift it, and orient it so the QR faces you", + "Find the paymentsign with tilted rectangular panel, grab it, and turn it towards yourself.", + "Lift the smooth beige paymentsign from the table and turn it to face you.", + "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.", + "Use the right arm to grab the small paymentsign for mobile payments and point its QR code toward you.", + "Use the right arm to grab the beige paymentsign and rotate it until the QR faces forward", + "Catch and lift the smooth beige paymentsign, then turn it to show the QR code.", + "Take the paymentsign resting on angled base from the table, rotating it QR code toward you.", + "Lift the QR code paymentsign from the table and rotate it towards you" + ], + "unseen": [ + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode6.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..e4a556aaaa43ffa9f7ec04d3e78e5eb12393cc23 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small black stand for payments and rotate until its qrcode faces you.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Pick the slanted gray panel for QR code scan up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Lift the green payment logo on gray top from the table and rotate it towards you", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Grab the green payment logo on gray top using the left arm, lift, and rotate until QR code faces you.", + "Pick the small payment stand with black base up and turn its QR code toward you using the left arm.", + "Use the left arm to pick the payment sign with green logo and turn it towards you.", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Grab the gray slanted panel with text with the left arm, then rotate it to face yourself.", + "Catch the black base with tilted gray panel, lift, and rotate to align the qrcode to you.", + "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the slanted gray panel for QR code scan and point its QR code toward you.", + "Take the small black stand for payments, raise it, and make the qrcode face you.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Grab the triangular stand with QR code using the left arm, then rotate it until the qrcode faces you.", + "Pick the slanted gray panel for QR code scan up, then rotate to make its qrcode visible.", + "Use the left arm to take the small payment stand with black base and turn it until the QR code faces you", + "Grab the black base with tilted gray panel, lift it from the table, and rotate it QR front", + "Catch the payment sign with green logo, pick it up, and rotate to view the qrcode.", + "Employ the left arm to seize the triangular stand with QR code, raise it, and rotate it QR-forward", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Slide the gray top with QR code off the table and turn it to face you.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Use the left arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Lift the small payment stand with black base and rotate for its qrcode to face you.", + "Catch the black base with tilted gray panel with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate it until the QR faces forward", + "Use the left arm to grab the green payment logo on gray top and rotate QR code towards you.", + "Using the left arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Grab the black base with tilted gray panel using the left arm, then rotate the QR code to face forward.", + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Use the left arm to lift the payment sign with angled face from the table and face the qrcode.", + "Lift the black base with tilted gray panel from the surface and adjust its angle towards you", + "Grab the gray top with QR code, pick it up, and turn its qrcode toward you.", + "Catch the small payment stand with black base off the table and rotate its qrcode to you.", + "Use the left arm to grab the gray slanted panel with text, lift, and turn it QR code forward", + "Lift the gray top with QR code and orient its QR code toward you with the left arm.", + "Catch the black base with tilted gray panel using the left arm, pick it up, and turn it to face the QR code.", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Lift the small payment stand with black base and rotate until its qrcode faces you.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Pick the payment sign with angled face up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the small black stand for payments and rotate it QR code toward you.", + "Lift the paymentsign from the table and rotate it towards you", + "Catch the triangular stand with QR code, lift it, and adjust its QR code to face you.", + "Grab the gray top with QR code using the left arm, lift, and rotate until QR code faces you.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Use the left arm to pick the gray slanted panel with text and turn it towards you.", + "Lift the triangular stand with QR code with the left arm, then rotate it to make the qrcode visible.", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Catch the payment sign with angled face, lift, and rotate to align the qrcode to you.", + "Catch the gray top with QR code, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the green payment logo on gray top and point its QR code toward you.", + "Take the tabletop-sized payment sign, raise it, and make the qrcode face you.", + "Take the gray slanted panel with text, lift it, and orient it so the QR faces you", + "Lift the tabletop-sized payment sign from the table, turning it QR code forward.", + "Grab the slanted gray panel for QR code scan using the left arm, then rotate it until the qrcode faces you.", + "Pick the green payment logo on gray top up, then rotate to make its qrcode visible.", + "Use the left arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Catch the triangular stand with QR code, pick it up, and rotate to view the qrcode.", + "Employ the left arm to seize the small black stand for payments, raise it, and rotate it QR-forward", + "Lift the paymentsign from the table and turn it to face you.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Catch and lift the triangular stand with QR code, then turn it to show the QR code.", + "Lift the gray slanted panel with text from the table and rotate it so the code faces you.", + "Use the left arm to grab the payment sign with green logo, rotate, and face the QR code towards you.", + "Catch the payment sign with angled face, lift it, and turn the qrcode towards you.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Find the green payment logo on gray top, grab it, and turn it towards yourself.", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Catch the payment sign with angled face with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Use the left arm to grab the payment sign with angled face and rotate QR code towards you.", + "Using the left arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Grab the black base with tilted gray panel using the left arm, then rotate the QR code to face forward.", + "Pick up the paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Locate the gray top with QR code, pick it up, and adjust its angle.", + "Use the left arm to lift the gray top with QR code from the table and face the qrcode.", + "Lift the payment sign with green logo from the surface and adjust its angle towards you", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Catch the green payment logo on gray top off the table and rotate its qrcode to you.", + "Use the left arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Lift the small black stand for payments and orient its QR code toward you with the left arm.", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Take the slanted gray panel for QR code scan from the table, rotating it QR code toward you." + ], + "unseen": [ + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode7.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..3a0e1049d1758476a4de39db6052b13415afd124 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Grab the tabletop-sized payment sign, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the small black stand for payments and point its QR code toward you.", + "Grab the tabletop-sized payment sign using the left arm, then rotate the QR code to face forward.", + "Lift the paymentsign and orient its QR code toward you with the left arm.", + "Pick the triangular stand with QR code up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Pick up the gray slanted panel with text and adjust its position to face the qrcode towards you.", + "Lift the black base with tilted gray panel with the left arm, then rotate it to make the qrcode visible.", + "Grab the small payment stand with black base using the left arm, then rotate it until the qrcode faces you.", + "Pick the small black stand for payments up and turn its QR code toward you using the left arm.", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Catch the triangular stand with QR code, lift it, and turn the qrcode towards you.", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Take the tabletop-sized payment sign, raise it, and make the qrcode face you.", + "Use the left arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Catch the gray slanted panel with text, lift it, and adjust its QR code to face you.", + "Use the left arm to lift the tabletop-sized payment sign and rotate it QR code toward you.", + "Use the left arm to grab the black base with tilted gray panel and rotate the qrcode to face you.", + "Catch the triangular stand with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Lift the green payment logo on gray top and rotate until its qrcode faces you.", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Use the left arm to grab the small payment stand with black base and rotate QR code towards you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it towards you", + "Lift the slanted gray panel for QR code scan and rotate for its qrcode to face you.", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Using the left arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.", + "Lift the green payment logo on gray top from the table, turning it QR code forward.", + "Employ the left arm to seize the black base with tilted gray panel, raise it, and rotate it QR-forward", + "Slide the paymentsign off the table and turn it to face you.", + "Take the payment sign with angled face, lift it, and orient it so the QR faces you", + "Catch the slanted gray panel for QR code scan, raise it, and turn it so the QR code faces you", + "Catch the tabletop-sized payment sign, lift it, and rotate it QR code facing.", + "Catch the small payment stand with black base, lift, and rotate to align the qrcode to you.", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Use the left arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Catch the green payment logo on gray top with the left arm, then rotate it to make the QR code visible.", + "Grab the black base with tilted gray panel, lift it from the table, and rotate it QR front", + "Pick the green payment logo on gray top up, then rotate to make its qrcode visible.", + "Use the left arm to pick the paymentsign and turn it towards you.", + "Find the gray slanted panel with text, grab it, and turn it towards yourself.", + "Use the left arm to take the gray top with QR code and turn it until the QR code faces you", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Pick up the slanted gray panel for QR code scan and rotate it so the QR code faces you", + "Catch the small payment stand with black base off the table and rotate its qrcode to you.", + "Lift the slanted gray panel for QR code scan and rotate it until the QR code faces you.", + "Use the left arm to lift the payment sign with green logo from the table and face the qrcode.", + "Catch the gray slanted panel with text, pick it up, and rotate to view the qrcode.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Grab the gray top with QR code, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the small black stand for payments and point its QR code toward you.", + "Grab the paymentsign using the left arm, then rotate the QR code to face forward.", + "Lift the payment sign with green logo and orient its QR code toward you with the left arm.", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the green payment logo on gray top and rotate it until the QR faces forward", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Lift the triangular stand with QR code with the left arm, then rotate it to make the qrcode visible.", + "Grab the payment sign with green logo using the left arm, then rotate it until the qrcode faces you.", + "Pick the payment sign with green logo up and turn its QR code toward you using the left arm.", + "Lift the black base with tilted gray panel from the table and turn it to face you.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Grab the gray top with QR code with the left arm, then rotate it to face yourself.", + "Take the payment sign with angled face, raise it, and make the qrcode face you.", + "Use the left arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Catch the triangular stand with QR code, lift it, and adjust its QR code to face you.", + "Use the left arm to lift the slanted gray panel for QR code scan and rotate it QR code toward you.", + "Use the left arm to grab the tabletop-sized payment sign and rotate the qrcode to face you.", + "Catch the triangular stand with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Lift the black base with tilted gray panel and rotate until its qrcode faces you.", + "Take the slanted gray panel for QR code scan from the table, rotating it QR code toward you.", + "Use the left arm to grab the small black stand for payments and rotate QR code towards you.", + "Lift the triangular stand with QR code from the table and rotate it towards you", + "Lift the tabletop-sized payment sign and rotate for its qrcode to face you.", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Using the left arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Lift the payment sign with green logo from the table, turning it QR code forward.", + "Employ the left arm to seize the slanted gray panel for QR code scan, raise it, and rotate it QR-forward", + "Slide the payment sign with angled face off the table and turn it to face you.", + "Take the payment sign with green logo, lift it, and orient it so the QR faces you", + "Catch the gray slanted panel with text, raise it, and turn it so the QR code faces you", + "Catch the tabletop-sized payment sign, lift it, and rotate it QR code facing.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Use the left arm to grab the slanted gray panel for QR code scan, rotate, and face the QR code towards you.", + "Catch the small payment stand with black base with the left arm, then rotate it to make the QR code visible.", + "Grab the green payment logo on gray top, lift it from the table, and rotate it QR front", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Use the left arm to pick the gray top with QR code and turn it towards you.", + "Find the triangular stand with QR code, grab it, and turn it towards yourself.", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Lift the gray slanted panel with text from the table and rotate it so the code faces you.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Use the left arm to lift the tabletop-sized payment sign from the table and face the qrcode." + ], + "unseen": [ + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode8.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..cf2b27d2ad304b53533a2a4b9fed3742a0971e97 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the green payment logo on gray top with the right arm, then rotate it to make the QR code visible.", + "Lift the triangular stand with QR code from the table and turn it to face you.", + "Catch the tabletop-sized payment sign, lift, and rotate to align the qrcode to you.", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Grab the gray top with QR code, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Use the right arm to pick the gray top with QR code and turn it towards you.", + "Use the right arm to grab the black base with tilted gray panel and rotate QR code towards you.", + "Grab the paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the paymentsign, lift, and turn it QR code forward", + "Lift the paymentsign and rotate it until the QR code faces you.", + "Catch the triangular stand with QR code off the table and rotate its qrcode to you.", + "Grab the triangular stand with QR code with the right arm, then rotate it to face yourself.", + "Locate the tabletop-sized payment sign, pick it up, and adjust its angle.", + "Take the black base with tilted gray panel, lift it, and orient it so the QR faces you", + "Use the right arm to lift the gray slanted panel with text from the table and face the qrcode.", + "Catch the gray slanted panel with text, lift it, and turn the qrcode towards you.", + "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Lift the gray top with QR code and orient its QR code toward you with the right arm.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Employ the right arm to seize the tabletop-sized payment sign, raise it, and rotate it QR-forward", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you.", + "Using the right arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Pick the tabletop-sized payment sign up, rotate it, and ensure the QR code faces you.", + "Lift the gray top with QR code with the right arm, then rotate it to make the qrcode visible.", + "Pick the payment sign with green logo up and turn its QR code toward you using the right arm.", + "Catch and lift the small black stand for payments, then turn it to show the QR code.", + "Find the triangular stand with QR code, grab it, and turn it towards yourself.", + "Use the right arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Slide the gray top with QR code off the table and turn it to face you.", + "Use the right arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Take the slanted gray panel for QR code scan from the table, rotating it QR code toward you.", + "Catch the gray slanted panel with text, raise it, and turn it so the QR code faces you", + "Grab the triangular stand with QR code using the right arm, then rotate the QR code to face forward.", + "Lift the black base with tilted gray panel from the table, turning it QR code forward.", + "Use the right arm to take the small payment stand with black base and turn it until the QR code faces you", + "Grab the gray top with QR code using the right arm, then rotate it until the qrcode faces you.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Lift the black base with tilted gray panel and rotate until its qrcode faces you.", + "Lift the black base with tilted gray panel from the table and rotate it towards you", + "Catch the black base with tilted gray panel using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the green payment logo on gray top and point its QR code toward you.", + "Use the right arm to lift the gray slanted panel with text and rotate it QR code toward you.", + "Take the small black stand for payments, raise it, and make the qrcode face you.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Catch the tabletop-sized payment sign, pick it up, and rotate to view the qrcode.", + "Catch the slanted gray panel for QR code scan with the right arm, then rotate it to make the QR code visible.", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the payment sign with angled face, lift it, and adjust its QR code to face you.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Use the right arm to pick the tabletop-sized payment sign and turn it towards you.", + "Use the right arm to grab the green payment logo on gray top and rotate QR code towards you.", + "Grab the green payment logo on gray top using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the small black stand for payments, lift, and turn it QR code forward", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Grab the payment sign with green logo with the right arm, then rotate it to face yourself.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Use the right arm to lift the paymentsign from the table and face the qrcode.", + "Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.", + "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Lift the payment sign with green logo and orient its QR code toward you with the right arm.", + "Catch the payment sign with angled face, pick it up, and rotate to show the QR code.", + "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.", + "Employ the right arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Lift the small payment stand with black base and rotate for its qrcode to face you.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Using the right arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Lift the gray slanted panel with text with the right arm, then rotate it to make the qrcode visible.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the right arm.", + "Catch and lift the tabletop-sized payment sign, then turn it to show the QR code.", + "Find the triangular stand with QR code, grab it, and turn it towards yourself.", + "Use the right arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Pick up the tabletop-sized payment sign and rotate it so the QR code faces you", + "Slide the gray top with QR code off the table and turn it to face you.", + "Use the right arm to grab the small payment stand with black base and rotate it until the QR faces forward", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Grab the gray slanted panel with text using the right arm, then rotate the QR code to face forward.", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Use the right arm to take the gray top with QR code and turn it until the QR code faces you", + "Grab the small black stand for payments using the right arm, then rotate it until the qrcode faces you.", + "Lift the small payment stand with black base from the surface and adjust its angle towards you", + "Lift the gray slanted panel with text and rotate until its qrcode faces you.", + "Lift the small black stand for payments from the table and rotate it towards you", + "Catch the black base with tilted gray panel using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the payment sign with angled face and point its QR code toward you.", + "Use the right arm to lift the slanted gray panel for QR code scan and rotate it QR code toward you.", + "Take the black base with tilted gray panel, raise it, and make the qrcode face you.", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Catch the black base with tilted gray panel, pick it up, and rotate to view the qrcode." + ], + "unseen": [ + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode9.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..ed0de20bd6b4b15d3c216b2edc6fb257fbf36455 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Locate the beige paymentsign, pick it up, and adjust its angle.", + "Grab the beige paymentsign, lift it from the table, and rotate it QR front", + "Use the left arm to take the smooth beige paymentsign and turn it until the QR code faces you", + "Catch the rectangular paymentsign with colorful top using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the paymentsign resting on angled base, rotate, and face the QR code towards you.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the smooth beige paymentsign and point its QR code toward you.", + "Grab the smooth beige paymentsign using the left arm, then rotate the QR code to face forward.", + "Grab the paymentsign showing QR code label with the left arm, then rotate it to face yourself.", + "Take the small paymentsign for mobile payments from the table, rotating it QR code toward you.", + "Lift the QR code paymentsign from the table and rotate it so the code faces you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and adjust its QR code to face you.", + "Employ the left arm to seize the smooth beige paymentsign, raise it, and rotate it QR-forward", + "Using the left arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you", + "Pick up the beige paymentsign with printed details and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the small paymentsign for mobile payments and rotate QR code towards you.", + "Use the left arm to pick the QR code paymentsign and turn it towards you.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to show the QR code.", + "Lift the beige paymentsign with printed details and orient its QR code toward you with the left arm.", + "Lift the paymentsign showing QR code label from the table and turn it to face you.", + "Grab the beige paymentsign with printed details, pick it up, and turn its qrcode toward you.", + "Catch and lift the compact paymentsign for scanning payments, then turn it to show the QR code.", + "Use the left arm to lift the beige paymentsign from the table and face the qrcode.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign resting on angled base and rotate until its qrcode faces you.", + "Take the stand-up paymentsign with rectangular top, lift it, and orient it so the QR faces you", + "Grab the beige paymentsign with printed details using the left arm, then rotate it until the qrcode faces you.", + "Pick the paymentsign showing QR code label up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Catch the paymentsign showing QR code label off the table and rotate its qrcode to you.", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Use the left arm to lift the paymentsign resting on angled base and rotate it QR code toward you.", + "Catch the beige paymentsign with the left arm, then rotate it to make the QR code visible.", + "Lift the small paymentsign for mobile payments with the left arm, then rotate it to make the qrcode visible.", + "Lift the rectangular paymentsign with colorful top from the table, turning it QR code forward.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it towards you", + "Slide the small paymentsign for mobile payments off the table and turn it to face you.", + "Grab the paymentsign with tilted rectangular panel using the left arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the compact paymentsign for scanning payments and rotate the qrcode to face you.", + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Use the left arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward", + "Catch the small paymentsign for mobile payments, raise it, and turn it so the QR code faces you", + "Catch the compact paymentsign for scanning payments, lift it, and turn the qrcode towards you.", + "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.", + "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you", + "Lift the smooth beige paymentsign and rotate it until the QR code faces you.", + "Locate the compact paymentsign for scanning payments, pick it up, and adjust its angle.", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Use the left arm to take the smooth beige paymentsign and turn it until the QR code faces you", + "Catch the paymentsign resting on angled base using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the QR code paymentsign and point its QR code toward you.", + "Grab the compact paymentsign for scanning payments using the left arm, then rotate the QR code to face forward.", + "Grab the QR code paymentsign with the left arm, then rotate it to face yourself.", + "Take the QR code paymentsign from the table, rotating it QR code toward you.", + "Lift the compact paymentsign for scanning payments from the table and rotate it so the code faces you.", + "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.", + "Employ the left arm to seize the paymentsign with blue and white text, raise it, and rotate it QR-forward", + "Using the left arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate QR code towards you.", + "Use the left arm to pick the smooth beige paymentsign and turn it towards you.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to show the QR code.", + "Lift the rectangular paymentsign with colorful top and orient its QR code toward you with the left arm.", + "Lift the compact paymentsign for scanning payments from the table and turn it to face you.", + "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.", + "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.", + "Use the left arm to lift the QR code paymentsign from the table and face the qrcode.", + "Pick the stand-up paymentsign with rectangular top up, then rotate to make its qrcode visible.", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Take the rectangular paymentsign with colorful top, lift it, and orient it so the QR faces you", + "Grab the beige paymentsign with printed details using the left arm, then rotate it until the qrcode faces you.", + "Pick the small paymentsign for mobile payments up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the beige paymentsign with printed details and rotate it until the QR faces forward", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Lift the smooth beige paymentsign and rotate for its qrcode to face you.", + "Use the left arm to lift the QR code paymentsign and rotate it QR code toward you.", + "Catch the paymentsign showing QR code label with the left arm, then rotate it to make the QR code visible.", + "Lift the paymentsign resting on angled base with the left arm, then rotate it to make the qrcode visible.", + "Lift the beige paymentsign from the table, turning it QR code forward.", + "Lift the paymentsign resting on angled base from the table and rotate it towards you", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Grab the QR code paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the smooth beige paymentsign and rotate the qrcode to face you.", + "Find the beige paymentsign with printed details, grab it, and turn it towards yourself.", + "Use the left arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward", + "Catch the small paymentsign for mobile payments, raise it, and turn it so the QR code faces you", + "Catch the paymentsign resting on angled base, lift it, and turn the qrcode towards you.", + "Take the paymentsign resting on angled base, raise it, and make the qrcode face you.", + "Pick up the QR code paymentsign and rotate it so the QR code faces you" + ], + "unseen": [ + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/scene_info.json b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..000cc88ec5b111b1281277d1cfdb9f194fc41924 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/franka-panda/meta/scene_info.json @@ -0,0 +1,552 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "070_paymentsign/base2", + 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index 0000000000000000000000000000000000000000..5610bad82741da9076af8554cff2142780919603 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/data/episode9.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5044dd80cc35903f0cd3ad320465c76560af13e4bd5a31026faed9b1f5a7f37 +size 6282264 diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/config.yml b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..89ae1e704e528525b290bb3dce2c54c6fd416782 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/config.yml @@ -0,0 +1,41 @@ +urdf_path: "./ur5_wsg_gripper.urdf" +srdf_path: "./ur5.srdf" +joint_stiffness: 1000 +joint_damping: 200 +gripper_stiffnes: 1000 +gripper_damping: 200 +move_group: ["ee_link","ee_link"] +ee_joints: ["ee_fixed_joint","ee_fixed_joint"] +arm_joints_name: [["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"], + ["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]] +# gripper_name: [["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"], + # ["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"]] +gripper_name: + - base: "base_joint_gripper_left" + mimic: [["base_joint_gripper_right", -1., 0.]] + - base: "base_joint_gripper_left" + mimic: [["base_joint_gripper_right", -1., 0.]] +gripper_bias: 0.11 +gripper_scale: [0.01, -0.06] +homestate: [[-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0], + [-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0]] +delta_matrix: [[1,0,0],[0,1,0],[0,0,1]] +global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] +robot_pose: [[0, -0.65, 0.65, 1, 0, 0, 0],[0, -0.65, 0.75, 1, 0, 0, 0]] # modify +planner: "curobo" +dual_arm: False +fix_gripper_name: ["finger_left", "finger_right"] +static_camera_list: +- name: head_camera + position: + - -0.032 + - -0.45 + - 1.35 + forward: + - 0 + - 0.6 + - -0.8 + left: + - -1 + - 0 + - 0 \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/info.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f24c6d1a43cf28dc75ef4e4aac707da6b9761907 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/info.json @@ -0,0 +1,62 @@ +{ + "task": "rotate_qrcode", + "embodiment": "ur5-wsg", + "camera_views": [ + "head_camera", + "left_camera", + "right_camera" + ], + "data_resolution": "320x240", + "num_episodes": 50, + "embodiment_config": { + "urdf": "ur5_wsg_gripper_isaac.urdf", + "dual_arm": false, + "dis": 0.8, + "left_arm": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "right_arm": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "left_gripper": [ + "base_joint_gripper_left", + [ + [ + "base_joint_gripper_right", + -1.0, + 0.0 + ] + ] + ], + "right_gripper": [ + "base_joint_gripper_left", + [ + [ + "base_joint_gripper_right", + -1.0, + 0.0 + ] + ] + ], + "gripper_scale": [ + 0.01, + -0.06 + ], + "grasp_axis": [ + 0.0, + 0.0, + -1.0 + ] + }, + "source_renderer": "render/render_robotwin.py" +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode0.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..5b74c979f71d03f1390ca23c2ed1686436af1104 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the sign with yellow payment section and rotate until its qrcode faces you.", + "Use the left arm to grab the yellow and white payment display, lift, and turn it QR code forward", + "Locate the yellow and white payment display, pick it up, and adjust its angle.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Pick the plastic smooth paymentsign up and turn its QR code toward you using the left arm.", + "Catch the rectangular paymentsign with stand, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the sign with yellow payment section and rotate the qrcode to face you.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate QR code towards you.", + "Use the left arm to lift the sign with yellow payment section from the table and face the qrcode.", + "Find the white rectangular paymentsign with yellow details, grab it, and turn it towards yourself.", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Pick up the rectangular paymentsign with stand and rotate it so the QR code faces you", + "Employ the left arm to seize the yellow and white payment display, raise it, and rotate it QR-forward", + "Use the left arm to take the yellow panel white paymentsign and turn it until the QR code faces you", + "Catch the white stand sign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with QR code area, pick it up, and rotate to view the qrcode.", + "Lift the plastic smooth paymentsign from the table and rotate it towards you", + "Use the left arm to pick the white paymentsign with raised base and turn it towards you.", + "Grab the plastic smooth paymentsign using the left arm, then rotate the QR code to face forward.", + "Lift the tabletop paymentsign from the table and rotate it so the code faces you.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Lift the sign with yellow payment section and rotate it until the QR code faces you.", + "Catch and lift the white paymentsign with raised base, then turn it to show the QR code.", + "Slide the white stand sign off the table and turn it to face you.", + "Using the left arm, catch the rectangular paymentsign with stand and rotate it to face the QR code.", + "Lift the rectangular paymentsign with stand from the table and turn it to face you.", + "Grab the plastic smooth paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Grab the sign with yellow payment section using the left arm, then rotate it until the qrcode faces you.", + "Catch the plastic smooth paymentsign, lift it, and rotate it QR code facing.", + "Catch the paymentsign with QR code area, raise it, and turn it so the QR code faces you", + "Lift the white stand sign from the table, turning it QR code forward.", + "Lift the white paymentsign with raised base and orient its QR code toward you with the left arm.", + "Grab the yellow and white payment display, pick it up, and turn its qrcode toward you.", + "Grab the white rectangular paymentsign with yellow details, lift it from the table, and rotate it QR front", + "Catch the white rectangular paymentsign with yellow details off the table and rotate its qrcode to you.", + "Grab the yellow panel white paymentsign with the left arm, then rotate it to face yourself.", + "Take the paymentsign with QR code area, raise it, and make the qrcode face you.", + "Catch the paymentsign with QR code area, pick it up, and rotate to show the QR code.", + "Lift the yellow and white payment display with the left arm, then rotate it to make the qrcode visible.", + "Catch the white paymentsign with raised base with the left arm, then rotate it to make the QR code visible.", + "Pick the white stand sign up, then rotate to make its qrcode visible.", + "Catch the smooth plastic paymentsign with QR code, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Pick the paymentsign with QR code area up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the smooth plastic paymentsign with QR code and rotate it QR code toward you.", + "Lift the rectangular paymentsign with stand from the surface and adjust its angle towards you", + "Take the plastic smooth paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the white rectangular paymentsign with yellow details, rotate, and face the QR code towards you.", + "Pick up the paymentsign with QR code area and adjust its position to face the qrcode towards you.", + "Lift the plastic smooth paymentsign and rotate until its qrcode faces you.", + "Use the left arm to grab the plastic smooth paymentsign, lift, and turn it QR code forward", + "Locate the white paymentsign with raised base, pick it up, and adjust its angle.", + "Lift the white stand sign and rotate for its qrcode to face you.", + "Pick the white rectangular paymentsign with yellow details up and turn its QR code toward you using the left arm.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the plastic smooth paymentsign and rotate the qrcode to face you.", + "Use the left arm to grab the white stand sign and rotate QR code towards you.", + "Use the left arm to lift the white paymentsign with raised base from the table and face the qrcode.", + "Find the smooth plastic paymentsign with QR code, grab it, and turn it towards yourself.", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and rotate it until the QR faces forward", + "Pick up the white stand sign and rotate it so the QR code faces you", + "Employ the left arm to seize the white paymentsign with raised base, raise it, and rotate it QR-forward", + "Use the left arm to take the paymentsign with QR code area and turn it until the QR code faces you", + "Catch the white stand sign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to view the qrcode.", + "Lift the paymentsign from the table and rotate it towards you", + "Use the left arm to pick the yellow and white payment display and turn it towards you.", + "Grab the yellow panel white paymentsign using the left arm, then rotate the QR code to face forward.", + "Lift the white stand sign from the table and rotate it so the code faces you.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Lift the yellow and white payment display and rotate it until the QR code faces you.", + "Catch and lift the sign with yellow payment section, then turn it to show the QR code.", + "Slide the plastic smooth paymentsign off the table and turn it to face you.", + "Using the left arm, catch the white paymentsign with raised base and rotate it to face the QR code.", + "Lift the plastic smooth paymentsign from the table and turn it to face you.", + "Grab the yellow panel white paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Grab the white paymentsign with raised base using the left arm, then rotate it until the qrcode faces you.", + "Catch the white rectangular paymentsign with yellow details, lift it, and rotate it QR code facing.", + "Catch the yellow and white payment display, raise it, and turn it so the QR code faces you", + "Lift the yellow panel white paymentsign from the table, turning it QR code forward.", + "Lift the paymentsign with QR code area and orient its QR code toward you with the left arm.", + "Grab the white stand sign, pick it up, and turn its qrcode toward you.", + "Grab the white stand sign, lift it from the table, and rotate it QR front", + "Catch the yellow panel white paymentsign off the table and rotate its qrcode to you.", + "Grab the yellow and white payment display with the left arm, then rotate it to face yourself.", + "Take the tabletop paymentsign, raise it, and make the qrcode face you.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to show the QR code.", + "Lift the plastic smooth paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Catch the yellow and white payment display with the left arm, then rotate it to make the QR code visible.", + "Pick the paymentsign with QR code area up, then rotate to make its qrcode visible.", + "Catch the paymentsign with QR code area, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Pick the yellow panel white paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the white paymentsign with raised base and rotate it QR code toward you.", + "Lift the yellow and white payment display from the surface and adjust its angle towards you", + "Take the yellow panel white paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the rectangular paymentsign with stand, rotate, and face the QR code towards you.", + "Pick up the white stand sign and adjust its position to face the qrcode towards you." + ], + "unseen": [ + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode1.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..f42cdebf07a9ae25bc2ee00cdd0d036fa7156a58 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the yellow and white payment display from the table and face the qrcode.", + "Catch the yellow panel white paymentsign, lift it, and rotate it QR code facing.", + "Use the left arm to grab the white paymentsign with raised base, lift, and turn it QR code forward", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Use the left arm to grab the white stand sign and rotate QR code towards you.", + "Catch the tabletop paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Pick the white rectangular paymentsign with yellow details up and turn its QR code toward you using the left arm.", + "Employ the left arm to seize the white rectangular paymentsign with yellow details, raise it, and rotate it QR-forward", + "Lift the paymentsign with QR code area and rotate until its qrcode faces you.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Lift the tabletop paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Slide the sign with yellow payment section off the table and turn it to face you.", + "Pick up the paymentsign with QR code area and adjust its position to face the qrcode towards you.", + "Lift the rectangular paymentsign with stand from the table and rotate it towards you", + "Pick the white paymentsign with raised base up, rotate it, and ensure the QR code faces you.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to show the QR code.", + "Lift the yellow panel white paymentsign and rotate it until the QR code faces you.", + "Lift the smooth plastic paymentsign with QR code and rotate for its qrcode to face you.", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Lift the yellow and white payment display and orient its QR code toward you with the left arm.", + "Use the left arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Grab the rectangular paymentsign with stand, lift it from the table, and rotate it QR front", + "Catch and lift the white stand sign, then turn it to show the QR code.", + "Take the sign with yellow payment section, raise it, and make the qrcode face you.", + "Grab the white rectangular paymentsign with yellow details using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Grab the rectangular paymentsign with stand with the left arm, then rotate it to face yourself.", + "Use the left arm to take the white stand sign and turn it until the QR code faces you", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Take the smooth plastic paymentsign with QR code, lift it, and orient it so the QR faces you", + "Use the left arm to grab the yellow panel white paymentsign, rotate, and face the QR code towards you.", + "Using the left arm, catch the plastic smooth paymentsign and rotate it to face the QR code.", + "Pick the white stand sign up, then rotate to make its qrcode visible.", + "Catch the white paymentsign with raised base, pick it up, and rotate to view the qrcode.", + "Grab the rectangular paymentsign with stand, pick it up, and turn its qrcode toward you.", + "Use the left arm to pick the paymentsign with QR code area and turn it towards you.", + "Pick up the plastic smooth paymentsign and rotate it so the QR code faces you", + "Catch the white paymentsign with raised base, lift, and rotate to align the qrcode to you.", + "Grab the white stand sign using the left arm, then rotate the QR code to face forward.", + "Catch the rectangular paymentsign with stand, lift it, and adjust its QR code to face you.", + "Catch the paymentsign with QR code area, lift it, and turn the qrcode towards you.", + "Grab the paymentsign with QR code area using the left arm, lift, and rotate until QR code faces you.", + "Lift the white stand sign from the table and rotate it so the code faces you.", + "Lift the plastic smooth paymentsign from the table, turning it QR code forward.", + "Locate the rectangular paymentsign with stand, pick it up, and adjust its angle.", + "Use the left arm to grab the paymentsign with QR code area and rotate the qrcode to face you.", + "Take the white stand sign from the table, rotating it QR code toward you.", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Lift the sign with yellow payment section from the surface and adjust its angle towards you", + "Catch the paymentsign with QR code area, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the yellow and white payment display from the table and face the qrcode.", + "Catch the white rectangular paymentsign with yellow details, lift it, and rotate it QR code facing.", + "Use the left arm to grab the yellow panel white paymentsign, lift, and turn it QR code forward", + "Use the left arm to grab the smooth plastic paymentsign with QR code and point its QR code toward you.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and rotate QR code towards you.", + "Catch the white stand sign using the left arm, pick it up, and turn it to face the QR code.", + "Pick the rectangular paymentsign with stand up and turn its QR code toward you using the left arm.", + "Employ the left arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Lift the white stand sign and rotate until its qrcode faces you.", + "Catch the white stand sign with the left arm, then rotate it to make the QR code visible.", + "Lift the white rectangular paymentsign with yellow details with the left arm, then rotate it to make the qrcode visible.", + "Slide the white stand sign off the table and turn it to face you.", + "Pick up the white stand sign and adjust its position to face the qrcode towards you.", + "Lift the paymentsign from the table and rotate it towards you", + "Pick the tabletop paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to show the QR code.", + "Lift the white stand sign and rotate it until the QR code faces you.", + "Lift the white paymentsign with raised base and rotate for its qrcode to face you.", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Lift the smooth plastic paymentsign with QR code and orient its QR code toward you with the left arm.", + "Use the left arm to lift the yellow panel white paymentsign and rotate it QR code toward you.", + "Grab the rectangular paymentsign with stand, lift it from the table, and rotate it QR front", + "Catch and lift the sign with yellow payment section, then turn it to show the QR code.", + "Take the plastic smooth paymentsign, raise it, and make the qrcode face you.", + "Grab the tabletop paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the plastic smooth paymentsign and rotate it until the QR faces forward", + "Grab the yellow panel white paymentsign with the left arm, then rotate it to face yourself.", + "Use the left arm to take the white stand sign and turn it until the QR code faces you", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Take the smooth plastic paymentsign with QR code, lift it, and orient it so the QR faces you", + "Use the left arm to grab the paymentsign with QR code area, rotate, and face the QR code towards you.", + "Using the left arm, catch the white rectangular paymentsign with yellow details and rotate it to face the QR code.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Catch the yellow and white payment display, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Use the left arm to pick the yellow panel white paymentsign and turn it towards you.", + "Pick up the sign with yellow payment section and rotate it so the QR code faces you", + "Catch the tabletop paymentsign, lift, and rotate to align the qrcode to you.", + "Grab the paymentsign with QR code area using the left arm, then rotate the QR code to face forward.", + "Catch the yellow panel white paymentsign, lift it, and adjust its QR code to face you.", + "Catch the plastic smooth paymentsign, lift it, and turn the qrcode towards you.", + "Grab the white rectangular paymentsign with yellow details using the left arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Lift the sign with yellow payment section from the table, turning it QR code forward.", + "Locate the rectangular paymentsign with stand, pick it up, and adjust its angle.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate the qrcode to face you.", + "Take the yellow and white payment display from the table, rotating it QR code toward you.", + "Catch the paymentsign with QR code area off the table and rotate its qrcode to you.", + "Lift the sign with yellow payment section from the surface and adjust its angle towards you" + ], + "unseen": [ + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode10.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..5509e0c71dde871ab01373fdffd1b3f04eb949d8 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the blue and white paymentsign and orient its QR code toward you with the right arm.", + "Catch the blue and white rectangular paymentsign, lift it, and adjust its QR code to face you.", + "Grab the rectangular plastic paymentsign with codes using the right arm, then rotate it until the qrcode faces you.", + "Take the rectangular plastic paymentsign with codes, raise it, and make the qrcode face you.", + "Pick up the small glossy paymentsign and adjust its position to face the qrcode towards you.", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it so the code faces you.", + "Catch the paymentsign with glossy blue panel using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to lift the rectangular plastic paymentsign from the table and face the qrcode.", + "Pick the small glossy paymentsign up and turn its QR code toward you using the right arm.", + "Catch the small paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign for scanning QR codes off the table and rotate its qrcode to you.", + "Pick up the paymentsign with glossy blue panel and rotate it so the QR code faces you", + "Lift the rectangular plastic paymentsign with codes from the table and turn it to face you.", + "Use the right arm to lift the paymentsign for scanning QR codes and rotate it QR code toward you.", + "Lift the paymentsign with angled black stand from the table, turning it QR code forward.", + "Grab the paymentsign with angled black stand using the right arm, then rotate the QR code to face forward.", + "Use the right arm to take the smooth surface paymentsign and turn it until the QR code faces you", + "Catch the small paymentsign with stand, raise it, and turn it so the QR code faces you", + "Employ the right arm to seize the blue and white paymentsign, raise it, and rotate it QR-forward", + "Use the right arm to grab the paymentsign with printed QR codes and rotate the qrcode to face you.", + "Take the smooth surface paymentsign, lift it, and orient it so the QR faces you", + "Lift the smooth surface paymentsign and rotate for its qrcode to face you.", + "Catch the blue and white paymentsign, lift it, and rotate it QR code facing.", + "Lift the paymentsign with printed QR codes from the surface and adjust its angle towards you", + "Use the right arm to grab the small glossy paymentsign and rotate it until the QR faces forward", + "Catch the small glossy paymentsign with the right arm, then rotate it to make the QR code visible.", + "Catch the rectangular plastic paymentsign with codes, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the paymentsign with glossy blue panel, lift, and turn it QR code forward", + "Grab the tabletop paymentsign, lift it from the table, and rotate it QR front", + "Using the right arm, catch the blue and white paymentsign and rotate it to face the QR code.", + "Grab the paymentsign with printed QR codes with the right arm, then rotate it to face yourself.", + "Grab the tabletop paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the blue and white rectangular paymentsign and rotate it until the QR code faces you.", + "Pick the rectangular plastic paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the small glossy paymentsign from the table and rotate it towards you", + "Catch and lift the paymentsign with angled black stand, then turn it to show the QR code.", + "Lift the small paymentsign with stand and rotate until its qrcode faces you.", + "Catch the tabletop paymentsign, pick it up, and rotate to view the qrcode.", + "Slide the smooth surface paymentsign off the table and turn it to face you.", + "Grab the paymentsign for scanning QR codes, pick it up, and turn its qrcode toward you.", + "Use the right arm to pick the rectangular plastic paymentsign with codes and turn it towards you.", + "Use the right arm to grab the paymentsign for scanning QR codes and point its QR code toward you.", + "Use the right arm to grab the paymentsign for scanning QR codes and rotate QR code towards you.", + "Take the paymentsign with printed QR codes from the table, rotating it QR code toward you.", + "Use the right arm to grab the rectangular plastic paymentsign with codes, rotate, and face the QR code towards you.", + "Find the blue and white paymentsign, grab it, and turn it towards yourself.", + "Pick the paymentsign with glossy blue panel up, then rotate to make its qrcode visible.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with angled black stand with the right arm, then rotate it to make the qrcode visible.", + "Locate the paymentsign with angled black stand, pick it up, and adjust its angle.", + "Lift the paymentsign with angled black stand and orient its QR code toward you with the right arm.", + "Catch the paymentsign with glossy blue panel, lift it, and adjust its QR code to face you.", + "Grab the tabletop paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Take the blue and white paymentsign, raise it, and make the qrcode face you.", + "Pick up the blue and white paymentsign and adjust its position to face the qrcode towards you.", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it so the code faces you.", + "Catch the paymentsign with glossy blue panel using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to lift the small glossy paymentsign from the table and face the qrcode.", + "Pick the tabletop paymentsign up and turn its QR code toward you using the right arm.", + "Catch the paymentsign for scanning QR codes, lift, and rotate to align the qrcode to you.", + "Catch the blue and white rectangular paymentsign off the table and rotate its qrcode to you.", + "Pick up the rectangular plastic paymentsign and rotate it so the QR code faces you", + "Lift the rectangular plastic paymentsign with codes from the table and turn it to face you.", + "Use the right arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Lift the blue and white rectangular paymentsign from the table, turning it QR code forward.", + "Grab the small glossy paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to take the blue and white rectangular paymentsign and turn it until the QR code faces you", + "Catch the rectangular plastic paymentsign with codes, raise it, and turn it so the QR code faces you", + "Employ the right arm to seize the paymentsign with angled black stand, raise it, and rotate it QR-forward", + "Use the right arm to grab the rectangular plastic paymentsign with codes and rotate the qrcode to face you.", + "Take the blue and white paymentsign, lift it, and orient it so the QR faces you", + "Lift the rectangular plastic paymentsign and rotate for its qrcode to face you.", + "Catch the smooth surface paymentsign, lift it, and rotate it QR code facing.", + "Lift the small glossy paymentsign from the surface and adjust its angle towards you", + "Use the right arm to grab the small paymentsign with stand and rotate it until the QR faces forward", + "Catch the rectangular plastic paymentsign with the right arm, then rotate it to make the QR code visible.", + "Catch the paymentsign with angled black stand, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the paymentsign with glossy blue panel, lift, and turn it QR code forward", + "Grab the paymentsign for scanning QR codes, lift it from the table, and rotate it QR front", + "Using the right arm, catch the blue and white paymentsign and rotate it to face the QR code.", + "Grab the rectangular plastic paymentsign with codes with the right arm, then rotate it to face yourself.", + "Grab the tabletop paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign with printed QR codes and rotate it until the QR code faces you.", + "Pick the small glossy paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it towards you", + "Catch and lift the paymentsign with angled black stand, then turn it to show the QR code.", + "Lift the paymentsign with glossy blue panel and rotate until its qrcode faces you.", + "Catch the blue and white paymentsign, pick it up, and rotate to view the qrcode.", + "Slide the paymentsign with angled black stand off the table and turn it to face you.", + "Grab the blue and white rectangular paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to pick the small paymentsign with stand and turn it towards you.", + "Use the right arm to grab the rectangular plastic paymentsign and point its QR code toward you.", + "Use the right arm to grab the rectangular plastic paymentsign with codes and rotate QR code towards you.", + "Take the rectangular plastic paymentsign with codes from the table, rotating it QR code toward you.", + "Use the right arm to grab the small glossy paymentsign, rotate, and face the QR code towards you.", + "Find the paymentsign with angled black stand, grab it, and turn it towards yourself.", + "Pick the paymentsign with glossy blue panel up, then rotate to make its qrcode visible.", + "Catch the smooth surface paymentsign, pick it up, and rotate to show the QR code.", + "Lift the blue and white rectangular paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Locate the blue and white paymentsign, pick it up, and adjust its angle." + ], + "unseen": [ + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode11.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..443877da1bc40e2b218cc40d57d56f1fffb35adf --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the blue and white rectangular paymentsign and rotate it until the QR code faces you.", + "Employ the left arm to seize the rectangular plastic paymentsign, raise it, and rotate it QR-forward", + "Catch the rectangular plastic paymentsign, lift it, and adjust its QR code to face you.", + "Pick the smooth surface paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the smooth surface paymentsign and rotate the qrcode to face you.", + "Catch the rectangular plastic paymentsign, raise it, and turn it so the QR code faces you", + "Take the rectangular plastic paymentsign with codes, raise it, and make the qrcode face you.", + "Lift the small glossy paymentsign and orient its QR code toward you with the left arm.", + "Catch the paymentsign for scanning QR codes, pick it up, and rotate to view the qrcode.", + "Use the left arm to lift the paymentsign with glossy blue panel from the table and face the qrcode.", + "Catch the paymentsign with printed QR codes, lift, and rotate to align the qrcode to you.", + "Lift the rectangular plastic paymentsign from the table and rotate it towards you", + "Pick up the smooth surface paymentsign and rotate it so the QR code faces you", + "Use the left arm to grab the small paymentsign with stand and rotate QR code towards you.", + "Catch the paymentsign for scanning QR codes with the left arm, then rotate it to make the QR code visible.", + "Grab the blue and white paymentsign, lift it from the table, and rotate it QR front", + "Pick up the tabletop paymentsign and adjust its position to face the qrcode towards you.", + "Lift the paymentsign for scanning QR codes from the table and turn it to face you.", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign with angled black stand and rotate for its qrcode to face you.", + "Use the left arm to pick the paymentsign with angled black stand and turn it towards you.", + "Grab the rectangular plastic paymentsign with codes using the left arm, then rotate it until the qrcode faces you.", + "Take the rectangular plastic paymentsign from the table, rotating it QR code toward you.", + "Use the left arm to grab the rectangular plastic paymentsign, lift, and turn it QR code forward", + "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.", + "Pick the rectangular plastic paymentsign with codes up, then rotate to make its qrcode visible.", + "Catch the smooth surface paymentsign, lift it, and turn the qrcode towards you.", + "Grab the paymentsign with glossy blue panel using the left arm, then rotate the QR code to face forward.", + "Lift the small glossy paymentsign from the surface and adjust its angle towards you", + "Slide the blue and white rectangular paymentsign off the table and turn it to face you.", + "Catch the rectangular plastic paymentsign, lift it, and rotate it QR code facing.", + "Use the left arm to grab the paymentsign with printed QR codes and rotate it until the QR faces forward", + "Use the left arm to take the tabletop paymentsign and turn it until the QR code faces you", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Use the left arm to grab the small glossy paymentsign and point its QR code toward you.", + "Catch the rectangular plastic paymentsign with codes off the table and rotate its qrcode to you.", + "Take the small glossy paymentsign, lift it, and orient it so the QR faces you", + "Lift the small glossy paymentsign from the table and rotate it so the code faces you.", + "Grab the small paymentsign with stand with the left arm, then rotate it to face yourself.", + "Grab the paymentsign with glossy blue panel using the left arm, lift, and rotate until QR code faces you.", + "Find the small glossy paymentsign, grab it, and turn it towards yourself.", + "Use the left arm to lift the small glossy paymentsign and rotate it QR code toward you.", + "Catch and lift the blue and white rectangular paymentsign, then turn it to show the QR code.", + "Catch the blue and white rectangular paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Locate the smooth surface paymentsign, pick it up, and adjust its angle.", + "Using the left arm, catch the rectangular plastic paymentsign with codes and rotate it to face the QR code.", + "Use the left arm to grab the smooth surface paymentsign, rotate, and face the QR code towards you.", + "Pick the paymentsign with printed QR codes up and turn its QR code toward you using the left arm.", + "Lift the small paymentsign with stand from the table, turning it QR code forward.", + "Lift the rectangular plastic paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Lift the paymentsign with glossy blue panel and rotate it until the QR code faces you.", + "Employ the left arm to seize the blue and white rectangular paymentsign, raise it, and rotate it QR-forward", + "Catch the smooth surface paymentsign, lift it, and adjust its QR code to face you.", + "Pick the small glossy paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the small paymentsign with stand and rotate the qrcode to face you.", + "Catch the blue and white paymentsign, raise it, and turn it so the QR code faces you", + "Take the small paymentsign with stand, raise it, and make the qrcode face you.", + "Lift the smooth surface paymentsign and orient its QR code toward you with the left arm.", + "Catch the paymentsign with printed QR codes, pick it up, and rotate to view the qrcode.", + "Use the left arm to lift the paymentsign with printed QR codes from the table and face the qrcode.", + "Catch the blue and white paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the blue and white paymentsign from the table and rotate it towards you", + "Pick up the paymentsign for scanning QR codes and rotate it so the QR code faces you", + "Use the left arm to grab the paymentsign with printed QR codes and rotate QR code towards you.", + "Catch the paymentsign for scanning QR codes with the left arm, then rotate it to make the QR code visible.", + "Grab the paymentsign with printed QR codes, lift it from the table, and rotate it QR front", + "Pick up the paymentsign with glossy blue panel and adjust its position to face the qrcode towards you.", + "Lift the paymentsign with glossy blue panel from the table and turn it to face you.", + "Grab the paymentsign for scanning QR codes, pick it up, and turn its qrcode toward you.", + "Lift the small glossy paymentsign and rotate for its qrcode to face you.", + "Use the left arm to pick the blue and white rectangular paymentsign and turn it towards you.", + "Grab the smooth surface paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Use the left arm to grab the smooth surface paymentsign, lift, and turn it QR code forward", + "Catch the paymentsign for scanning QR codes, pick it up, and rotate to show the QR code.", + "Pick the smooth surface paymentsign up, then rotate to make its qrcode visible.", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Grab the blue and white paymentsign using the left arm, then rotate the QR code to face forward.", + "Lift the small paymentsign with stand from the surface and adjust its angle towards you", + "Slide the small paymentsign with stand off the table and turn it to face you.", + "Catch the tabletop paymentsign, lift it, and rotate it QR code facing.", + "Use the left arm to grab the small glossy paymentsign and rotate it until the QR faces forward", + "Use the left arm to take the rectangular plastic paymentsign and turn it until the QR code faces you", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Use the left arm to grab the blue and white paymentsign and point its QR code toward you.", + "Catch the paymentsign with angled black stand off the table and rotate its qrcode to you.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Lift the blue and white paymentsign from the table and rotate it so the code faces you.", + "Grab the paymentsign with printed QR codes with the left arm, then rotate it to face yourself.", + "Grab the blue and white rectangular paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Find the rectangular plastic paymentsign, grab it, and turn it towards yourself.", + "Use the left arm to lift the paymentsign with angled black stand and rotate it QR code toward you.", + "Catch and lift the tabletop paymentsign, then turn it to show the QR code.", + "Catch the paymentsign with angled black stand using the left arm, pick it up, and turn it to face the QR code.", + "Locate the blue and white paymentsign, pick it up, and adjust its angle.", + "Using the left arm, catch the rectangular plastic paymentsign with codes and rotate it to face the QR code.", + "Use the left arm to grab the small paymentsign with stand, rotate, and face the QR code towards you.", + "Pick the paymentsign for scanning QR codes up and turn its QR code toward you using the left arm.", + "Lift the blue and white rectangular paymentsign from the table, turning it QR code forward.", + "Lift the paymentsign with printed QR codes with the left arm, then rotate it to make the qrcode visible." + ], + "unseen": [ + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode12.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..965e7a6753abddfff6fe67e2e2e112d8cea91384 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the paymentsign with angled black stand with the left arm, then rotate it to make the qrcode visible.", + "Take the smooth surface paymentsign from the table, rotating it QR code toward you.", + "Grab the paymentsign for scanning QR codes using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the small glossy paymentsign, lift, and turn it QR code forward", + "Grab the tabletop paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with glossy blue panel using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the small paymentsign with stand and rotate it until the QR faces forward", + "Use the left arm to take the paymentsign with printed QR codes and turn it until the QR code faces you", + "Catch the paymentsign with glossy blue panel, lift, and rotate to align the qrcode to you.", + "Grab the blue and white paymentsign, pick it up, and turn its qrcode toward you.", + "Use the left arm to lift the blue and white paymentsign from the table and face the qrcode.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Use the left arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Take the blue and white rectangular paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to lift the small glossy paymentsign and rotate it QR code toward you.", + "Lift the blue and white paymentsign and rotate it until the QR code faces you.", + "Catch the rectangular plastic paymentsign with codes, lift it, and adjust its QR code to face you.", + "Using the left arm, catch the blue and white paymentsign and rotate it to face the QR code.", + "Take the paymentsign with printed QR codes, raise it, and make the qrcode face you.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to show the QR code.", + "Lift the small glossy paymentsign from the surface and adjust its angle towards you", + "Slide the small glossy paymentsign off the table and turn it to face you.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Employ the left arm to seize the rectangular plastic paymentsign with codes, raise it, and rotate it QR-forward", + "Pick the paymentsign with printed QR codes up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the paymentsign with printed QR codes and rotate QR code towards you.", + "Catch and lift the small paymentsign with stand, then turn it to show the QR code.", + "Pick up the smooth surface paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the blue and white paymentsign and point its QR code toward you.", + "Catch the small glossy paymentsign, pick it up, and rotate to view the qrcode.", + "Find the small glossy paymentsign, grab it, and turn it towards yourself.", + "Use the left arm to grab the rectangular plastic paymentsign with codes, rotate, and face the QR code towards you.", + "Grab the paymentsign with printed QR codes with the left arm, then rotate it to face yourself.", + "Catch the paymentsign with angled black stand, lift it, and rotate it QR code facing.", + "Grab the rectangular plastic paymentsign, lift it from the table, and rotate it QR front", + "Catch the blue and white paymentsign, raise it, and turn it so the QR code faces you", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Lift the blue and white rectangular paymentsign from the table and rotate it so the code faces you.", + "Pick the blue and white paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the blue and white rectangular paymentsign off the table and rotate its qrcode to you.", + "Lift the smooth surface paymentsign from the table and rotate it towards you", + "Catch the paymentsign with glossy blue panel with the left arm, then rotate it to make the QR code visible.", + "Pick up the rectangular plastic paymentsign with codes and rotate it so the QR code faces you", + "Lift the paymentsign for scanning QR codes and orient its QR code toward you with the left arm.", + "Catch the rectangular plastic paymentsign, lift it, and turn the qrcode towards you.", + "Lift the small paymentsign with stand from the table and turn it to face you.", + "Pick the tabletop paymentsign up, then rotate to make its qrcode visible.", + "Grab the blue and white rectangular paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to pick the paymentsign for scanning QR codes and turn it towards you.", + "Lift the smooth surface paymentsign from the table, turning it QR code forward.", + "Lift the small glossy paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Take the smooth surface paymentsign from the table, rotating it QR code toward you.", + "Grab the paymentsign for scanning QR codes using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the paymentsign with printed QR codes, lift, and turn it QR code forward", + "Grab the tabletop paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Catch the blue and white paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the paymentsign with angled black stand and rotate it until the QR faces forward", + "Use the left arm to take the small paymentsign with stand and turn it until the QR code faces you", + "Catch the paymentsign for scanning QR codes, lift, and rotate to align the qrcode to you.", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Use the left arm to lift the rectangular plastic paymentsign with codes from the table and face the qrcode.", + "Locate the blue and white rectangular paymentsign, pick it up, and adjust its angle.", + "Use the left arm to grab the paymentsign with printed QR codes and rotate the qrcode to face you.", + "Take the paymentsign for scanning QR codes, lift it, and orient it so the QR faces you", + "Use the left arm to lift the small paymentsign with stand and rotate it QR code toward you.", + "Lift the paymentsign with angled black stand and rotate it until the QR code faces you.", + "Catch the paymentsign with printed QR codes, lift it, and adjust its QR code to face you.", + "Using the left arm, catch the blue and white rectangular paymentsign and rotate it to face the QR code.", + "Take the small paymentsign with stand, raise it, and make the qrcode face you.", + "Catch the small paymentsign with stand, pick it up, and rotate to show the QR code.", + "Lift the small glossy paymentsign from the surface and adjust its angle towards you", + "Slide the small glossy paymentsign off the table and turn it to face you.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Employ the left arm to seize the small glossy paymentsign, raise it, and rotate it QR-forward", + "Pick the blue and white paymentsign up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the small glossy paymentsign and rotate QR code towards you.", + "Catch and lift the blue and white rectangular paymentsign, then turn it to show the QR code.", + "Pick up the small glossy paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the small glossy paymentsign and point its QR code toward you.", + "Catch the blue and white paymentsign, pick it up, and rotate to view the qrcode.", + "Find the paymentsign with glossy blue panel, grab it, and turn it towards yourself.", + "Use the left arm to grab the rectangular plastic paymentsign with codes, rotate, and face the QR code towards you.", + "Grab the rectangular plastic paymentsign with codes with the left arm, then rotate it to face yourself.", + "Catch the smooth surface paymentsign, lift it, and rotate it QR code facing.", + "Grab the tabletop paymentsign, lift it from the table, and rotate it QR front", + "Catch the tabletop paymentsign, raise it, and turn it so the QR code faces you", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Lift the smooth surface paymentsign from the table and rotate it so the code faces you.", + "Pick the smooth surface paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the blue and white paymentsign off the table and rotate its qrcode to you.", + "Lift the small glossy paymentsign from the table and rotate it towards you", + "Catch the small paymentsign with stand with the left arm, then rotate it to make the QR code visible.", + "Pick up the paymentsign with glossy blue panel and rotate it so the QR code faces you", + "Lift the paymentsign with angled black stand and orient its QR code toward you with the left arm.", + "Catch the paymentsign with angled black stand, lift it, and turn the qrcode towards you.", + "Lift the rectangular plastic paymentsign with codes from the table and turn it to face you.", + "Pick the paymentsign with angled black stand up, then rotate to make its qrcode visible.", + "Grab the small glossy paymentsign using the left arm, then rotate the QR code to face forward.", + "Use the left arm to pick the paymentsign for scanning QR codes and turn it towards you.", + "Lift the small paymentsign with stand from the table, turning it QR code forward." + ], + "unseen": [ + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode13.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..7edbb02c05d7b902b965bb71ecd07df6e6c89393 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the tabletop paymentsign with the right arm, then rotate it to face yourself.", + "Pick the white stand sign up, rotate it, and ensure the QR code faces you.", + "Take the rectangular paymentsign with stand, lift it, and orient it so the QR faces you", + "Pick the yellow panel white paymentsign up and turn its QR code toward you using the right arm.", + "Catch the rectangular paymentsign with stand, lift it, and adjust its QR code to face you.", + "Use the right arm to lift the plastic smooth paymentsign from the table and face the qrcode.", + "Employ the right arm to seize the paymentsign with QR code area, raise it, and rotate it QR-forward", + "Use the right arm to grab the white rectangular paymentsign with yellow details, lift, and turn it QR code forward", + "Grab the smooth plastic paymentsign with QR code, lift it from the table, and rotate it QR front", + "Use the right arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Find the white rectangular paymentsign with yellow details, grab it, and turn it towards yourself.", + "Catch the white stand sign, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the smooth plastic paymentsign with QR code, rotate, and face the QR code towards you.", + "Grab the white rectangular paymentsign with yellow details using the right arm, lift, and rotate until QR code faces you.", + "Catch the plastic smooth paymentsign, lift it, and turn the qrcode towards you.", + "Lift the paymentsign with QR code area from the table and rotate it towards you", + "Pick up the paymentsign with QR code area and rotate it so the QR code faces you", + "Take the sign with yellow payment section, raise it, and make the qrcode face you.", + "Lift the white stand sign from the table and rotate it so the code faces you.", + "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate it until the QR faces forward", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Catch the white paymentsign with raised base, raise it, and turn it so the QR code faces you", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Use the right arm to pick the paymentsign and turn it towards you.", + "Using the right arm, catch the paymentsign with QR code area and rotate it to face the QR code.", + "Grab the plastic smooth paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the white rectangular paymentsign with yellow details with the right arm, then rotate it to make the QR code visible.", + "Catch the tabletop paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Catch the yellow and white payment display off the table and rotate its qrcode to you.", + "Use the right arm to grab the sign with yellow payment section and rotate QR code towards you.", + "Pick the white rectangular paymentsign with yellow details up, then rotate to make its qrcode visible.", + "Use the right arm to take the rectangular paymentsign with stand and turn it until the QR code faces you", + "Lift the white rectangular paymentsign with yellow details from the table, turning it QR code forward.", + "Catch and lift the yellow panel white paymentsign, then turn it to show the QR code.", + "Locate the sign with yellow payment section, pick it up, and adjust its angle.", + "Lift the paymentsign with QR code area and rotate it until the QR code faces you.", + "Use the right arm to lift the rectangular paymentsign with stand and rotate it QR code toward you.", + "Lift the yellow and white payment display from the table and turn it to face you.", + "Lift the white stand sign and rotate for its qrcode to face you.", + "Grab the plastic smooth paymentsign using the right arm, then rotate the QR code to face forward.", + "Lift the rectangular paymentsign with stand from the surface and adjust its angle towards you", + "Catch the paymentsign with QR code area, lift, and rotate to align the qrcode to you.", + "Lift the tabletop paymentsign and orient its QR code toward you with the right arm.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Grab the rectangular paymentsign with stand using the right arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with QR code area, lift it, and rotate it QR code facing.", + "Slide the plastic smooth paymentsign off the table and turn it to face you.", + "Use the right arm to grab the yellow and white payment display and point its QR code toward you.", + "Lift the plastic smooth paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Grab the paymentsign with the right arm, then rotate it to face yourself.", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Pick the tabletop paymentsign up and turn its QR code toward you using the right arm.", + "Catch the white stand sign, lift it, and adjust its QR code to face you.", + "Use the right arm to lift the yellow and white payment display from the table and face the qrcode.", + "Employ the right arm to seize the plastic smooth paymentsign, raise it, and rotate it QR-forward", + "Use the right arm to grab the rectangular paymentsign with stand, lift, and turn it QR code forward", + "Grab the sign with yellow payment section, lift it from the table, and rotate it QR front", + "Use the right arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Find the white paymentsign with raised base, grab it, and turn it towards yourself.", + "Catch the sign with yellow payment section, pick it up, and rotate to view the qrcode.", + "Use the right arm to grab the white rectangular paymentsign with yellow details, rotate, and face the QR code towards you.", + "Grab the smooth plastic paymentsign with QR code using the right arm, lift, and rotate until QR code faces you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and turn the qrcode towards you.", + "Lift the white rectangular paymentsign with yellow details from the table and rotate it towards you", + "Pick up the white stand sign and rotate it so the QR code faces you", + "Take the yellow panel white paymentsign, raise it, and make the qrcode face you.", + "Lift the white rectangular paymentsign with yellow details from the table and rotate it so the code faces you.", + "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate it until the QR faces forward", + "Pick up the plastic smooth paymentsign and adjust its position to face the qrcode towards you.", + "Catch the rectangular paymentsign with stand, raise it, and turn it so the QR code faces you", + "Take the paymentsign with QR code area from the table, rotating it QR code toward you.", + "Use the right arm to pick the tabletop paymentsign and turn it towards you.", + "Using the right arm, catch the white stand sign and rotate it to face the QR code.", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the rectangular paymentsign with stand with the right arm, then rotate it to make the QR code visible.", + "Catch the white rectangular paymentsign with yellow details using the right arm, pick it up, and turn it to face the QR code.", + "Lift the plastic smooth paymentsign and rotate until its qrcode faces you.", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Use the right arm to grab the rectangular paymentsign with stand and rotate QR code towards you.", + "Pick the white stand sign up, then rotate to make its qrcode visible.", + "Use the right arm to take the rectangular paymentsign with stand and turn it until the QR code faces you", + "Lift the yellow panel white paymentsign from the table, turning it QR code forward.", + "Catch and lift the white rectangular paymentsign with yellow details, then turn it to show the QR code.", + "Locate the sign with yellow payment section, pick it up, and adjust its angle.", + "Lift the white rectangular paymentsign with yellow details and rotate it until the QR code faces you.", + "Use the right arm to lift the paymentsign with QR code area and rotate it QR code toward you.", + "Lift the white rectangular paymentsign with yellow details from the table and turn it to face you.", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Grab the paymentsign with QR code area using the right arm, then rotate the QR code to face forward.", + "Lift the white paymentsign with raised base from the surface and adjust its angle towards you", + "Catch the yellow and white payment display, lift, and rotate to align the qrcode to you.", + "Lift the white stand sign and orient its QR code toward you with the right arm.", + "Catch the yellow and white payment display, pick it up, and rotate to show the QR code.", + "Grab the tabletop paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and rotate it QR code facing.", + "Slide the rectangular paymentsign with stand off the table and turn it to face you.", + "Use the right arm to grab the white stand sign and point its QR code toward you.", + "Lift the white stand sign with the right arm, then rotate it to make the qrcode visible." + ], + "unseen": [ + "Catch the sign for payment processing on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the sign for payment processing on the table and pick it up.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode14.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..2dd72015b0d9e2d247d8657fc163b3aef22b9b0f --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Catch the tabletop-sized payment sign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Pick the black base with tilted gray panel up and turn its QR code toward you using the left arm.", + "Grab the gray top with QR code using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the payment sign with green logo, rotate, and face the QR code towards you.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Use the left arm to take the black base with tilted gray panel and turn it until the QR code faces you", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Find the green payment logo on gray top, grab it, and turn it towards yourself.", + "Use the left arm to lift the small payment stand with black base from the table and face the qrcode.", + "Lift the payment sign with green logo from the table and turn it to face you.", + "Employ the left arm to seize the tabletop-sized payment sign, raise it, and rotate it QR-forward", + "Lift the green payment logo on gray top and orient its QR code toward you with the left arm.", + "Lift the gray slanted panel with text from the table and rotate it towards you", + "Catch the black base with tilted gray panel with the left arm, then rotate it to make the QR code visible.", + "Slide the black base with tilted gray panel off the table and turn it to face you.", + "Pick the payment sign with green logo up, then rotate to make its qrcode visible.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Use the left arm to grab the small payment stand with black base and rotate QR code towards you.", + "Lift the black base with tilted gray panel with the left arm, then rotate it to make the qrcode visible.", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to view the qrcode.", + "Catch the triangular stand with QR code, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the tabletop-sized payment sign and rotate the qrcode to face you.", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.", + "Grab the paymentsign with the left arm, then rotate it to face yourself.", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the green payment logo on gray top and point its QR code toward you.", + "Catch the tabletop-sized payment sign, lift it, and turn the qrcode towards you.", + "Grab the gray top with QR code using the left arm, then rotate the QR code to face forward.", + "Grab the small black stand for payments using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to pick the gray slanted panel with text and turn it towards you.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Lift the green payment logo on gray top from the table, turning it QR code forward.", + "Use the left arm to lift the small black stand for payments and rotate it QR code toward you.", + "Lift the tabletop-sized payment sign and rotate for its qrcode to face you.", + "Lift the small payment stand with black base and rotate it until the QR code faces you.", + "Catch the black base with tilted gray panel, lift, and rotate to align the qrcode to you.", + "Using the left arm, catch the payment sign with angled face and rotate it to face the QR code.", + "Catch the gray top with QR code off the table and rotate its qrcode to you.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.", + "Pick the payment sign with angled face up, rotate it, and ensure the QR code faces you.", + "Pick up the gray top with QR code and adjust its position to face the qrcode towards you.", + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Catch the small payment stand with black base, lift it, and rotate it QR code facing.", + "Grab the payment sign with green logo, lift it from the table, and rotate it QR front", + "Catch the slanted gray panel for QR code scan using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Pick the slanted gray panel for QR code scan up and turn its QR code toward you using the left arm.", + "Grab the payment sign with green logo using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Lift the gray top with QR code from the surface and adjust its angle towards you", + "Use the left arm to take the payment sign with angled face and turn it until the QR code faces you", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Find the green payment logo on gray top, grab it, and turn it towards yourself.", + "Use the left arm to lift the tabletop-sized payment sign from the table and face the qrcode.", + "Lift the paymentsign from the table and turn it to face you.", + "Employ the left arm to seize the payment sign with green logo, raise it, and rotate it QR-forward", + "Lift the gray slanted panel with text and orient its QR code toward you with the left arm.", + "Lift the paymentsign from the table and rotate it towards you", + "Catch the payment sign with angled face with the left arm, then rotate it to make the QR code visible.", + "Slide the paymentsign off the table and turn it to face you.", + "Pick the payment sign with green logo up, then rotate to make its qrcode visible.", + "Catch and lift the gray slanted panel with text, then turn it to show the QR code.", + "Use the left arm to grab the gray slanted panel with text and rotate QR code towards you.", + "Lift the tabletop-sized payment sign with the left arm, then rotate it to make the qrcode visible.", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Catch the green payment logo on gray top, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Grab the triangular stand with QR code with the left arm, then rotate it to face yourself.", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the small black stand for payments and point its QR code toward you.", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to pick the gray top with QR code and turn it towards you.", + "Pick up the gray slanted panel with text and rotate it so the QR code faces you", + "Take the black base with tilted gray panel, raise it, and make the qrcode face you.", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Use the left arm to lift the tabletop-sized payment sign and rotate it QR code toward you.", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Lift the green payment logo on gray top and rotate it until the QR code faces you.", + "Catch the tabletop-sized payment sign, lift, and rotate to align the qrcode to you.", + "Using the left arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Use the left arm to grab the small black stand for payments, lift, and turn it QR code forward", + "Grab the gray top with QR code, pick it up, and turn its qrcode toward you.", + "Lift the black base with tilted gray panel and rotate until its qrcode faces you.", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Lift the payment sign with green logo from the table and rotate it so the code faces you." + ], + "unseen": [ + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode15.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..01cbf7c24b9036bfc8a844aaf91ff2055722c72b --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the rectangular paymentsign with stand using the left arm, then rotate the QR code to face forward.", + "Grab the paymentsign with the left arm, then rotate it to face yourself.", + "Slide the rectangular paymentsign with stand off the table and turn it to face you.", + "Grab the white stand sign using the left arm, lift, and rotate until QR code faces you.", + "Lift the plastic smooth paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Grab the yellow and white payment display, lift it from the table, and rotate it QR front", + "Lift the white paymentsign with raised base from the surface and adjust its angle towards you", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Grab the plastic smooth paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the rectangular paymentsign with stand, lift it, and rotate it QR code facing.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate QR code towards you.", + "Pick the white paymentsign with raised base up and turn its QR code toward you using the left arm.", + "Using the left arm, catch the white rectangular paymentsign with yellow details and rotate it to face the QR code.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Take the white stand sign, lift it, and orient it so the QR faces you", + "Pick the paymentsign with QR code area up, rotate it, and ensure the QR code faces you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and turn the qrcode towards you.", + "Lift the yellow and white payment display and rotate it until the QR code faces you.", + "Catch the sign with yellow payment section with the left arm, then rotate it to make the QR code visible.", + "Grab the yellow and white payment display, pick it up, and turn its qrcode toward you.", + "Pick the yellow panel white paymentsign up, then rotate to make its qrcode visible.", + "Use the left arm to grab the white stand sign and rotate the qrcode to face you.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it towards you", + "Catch the white paymentsign with raised base, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the smooth plastic paymentsign with QR code and rotate it QR code toward you.", + "Lift the smooth plastic paymentsign with QR code from the table and turn it to face you.", + "Use the left arm to grab the sign with yellow payment section and point its QR code toward you.", + "Use the left arm to pick the white rectangular paymentsign with yellow details and turn it towards you.", + "Catch the sign with yellow payment section using the left arm, pick it up, and turn it to face the QR code.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Use the left arm to take the yellow panel white paymentsign and turn it until the QR code faces you", + "Catch the yellow and white payment display, pick it up, and rotate to view the qrcode.", + "Find the tabletop paymentsign, grab it, and turn it towards yourself.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it so the code faces you.", + "Catch the yellow and white payment display, pick it up, and rotate to show the QR code.", + "Take the white paymentsign with raised base, raise it, and make the qrcode face you.", + "Use the left arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Locate the white stand sign, pick it up, and adjust its angle.", + "Use the left arm to grab the sign with yellow payment section, rotate, and face the QR code towards you.", + "Employ the left arm to seize the white paymentsign with raised base, raise it, and rotate it QR-forward", + "Pick up the yellow panel white paymentsign and rotate it so the QR code faces you", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Pick up the smooth plastic paymentsign with QR code and adjust its position to face the qrcode towards you.", + "Lift the plastic smooth paymentsign and orient its QR code toward you with the left arm.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Lift the yellow and white payment display and rotate until its qrcode faces you.", + "Use the left arm to grab the rectangular paymentsign with stand and rotate it until the QR faces forward", + "Catch the white paymentsign with raised base off the table and rotate its qrcode to you.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to lift the white stand sign from the table and face the qrcode.", + "Grab the tabletop paymentsign using the left arm, then rotate the QR code to face forward.", + "Grab the plastic smooth paymentsign with the left arm, then rotate it to face yourself.", + "Slide the paymentsign with QR code area off the table and turn it to face you.", + "Grab the tabletop paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Grab the white stand sign, lift it from the table, and rotate it QR front", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Grab the white stand sign using the left arm, then rotate it until the qrcode faces you.", + "Catch the rectangular paymentsign with stand, lift it, and rotate it QR code facing.", + "Use the left arm to grab the sign with yellow payment section and rotate QR code towards you.", + "Pick the smooth plastic paymentsign with QR code up and turn its QR code toward you using the left arm.", + "Using the left arm, catch the rectangular paymentsign with stand and rotate it to face the QR code.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Take the white stand sign, lift it, and orient it so the QR faces you", + "Pick the yellow panel white paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the plastic smooth paymentsign, lift it, and turn the qrcode towards you.", + "Lift the white paymentsign with raised base and rotate it until the QR code faces you.", + "Catch the plastic smooth paymentsign with the left arm, then rotate it to make the QR code visible.", + "Grab the yellow panel white paymentsign, pick it up, and turn its qrcode toward you.", + "Pick the paymentsign with QR code area up, then rotate to make its qrcode visible.", + "Use the left arm to grab the paymentsign with QR code area and rotate the qrcode to face you.", + "Lift the paymentsign from the table and rotate it towards you", + "Catch the yellow panel white paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the rectangular paymentsign with stand and rotate it QR code toward you.", + "Lift the yellow and white payment display from the table and turn it to face you.", + "Use the left arm to grab the paymentsign with QR code area and point its QR code toward you.", + "Use the left arm to pick the white paymentsign with raised base and turn it towards you.", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch and lift the paymentsign, then turn it to show the QR code.", + "Use the left arm to take the paymentsign and turn it until the QR code faces you", + "Catch the plastic smooth paymentsign, pick it up, and rotate to view the qrcode.", + "Find the yellow and white payment display, grab it, and turn it towards yourself.", + "Lift the white stand sign from the table and rotate it so the code faces you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to show the QR code.", + "Take the sign with yellow payment section, raise it, and make the qrcode face you.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Locate the yellow panel white paymentsign, pick it up, and adjust its angle.", + "Use the left arm to grab the white rectangular paymentsign with yellow details, rotate, and face the QR code towards you.", + "Employ the left arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Pick up the yellow panel white paymentsign and rotate it so the QR code faces you", + "Lift the paymentsign with QR code area from the table, turning it QR code forward.", + "Pick up the white rectangular paymentsign with yellow details and adjust its position to face the qrcode towards you.", + "Lift the paymentsign and orient its QR code toward you with the left arm.", + "Lift the white rectangular paymentsign with yellow details and rotate for its qrcode to face you.", + "Lift the smooth plastic paymentsign with QR code and rotate until its qrcode faces you.", + "Use the left arm to grab the white stand sign and rotate it until the QR faces forward", + "Catch the tabletop paymentsign off the table and rotate its qrcode to you.", + "Catch the rectangular paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Use the left arm to lift the paymentsign with QR code area from the table and face the qrcode." + ], + "unseen": [ + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode16.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..632c027ce0e0571380d50966e37b613c587f8acb --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.", + "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.", + "Grab the paymentsign with tilted rectangular panel using the left arm, lift, and rotate until QR code faces you.", + "Lift the QR code paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Lift the stand-up paymentsign with rectangular top and orient its QR code toward you with the left arm.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Catch the small paymentsign for mobile payments, lift it, and rotate it QR code facing.", + "Take the QR code paymentsign from the table, rotating it QR code toward you.", + "Take the beige paymentsign, lift it, and orient it so the QR faces you", + "Lift the smooth beige paymentsign from the table, turning it QR code forward.", + "Grab the QR code paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Catch the paymentsign with tilted rectangular panel with the left arm, then rotate it to make the QR code visible.", + "Catch the QR code paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to grab the QR code paymentsign and rotate QR code towards you.", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the left arm.", + "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.", + "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Lift the paymentsign with blue and white text from the table and rotate it towards you", + "Using the left arm, catch the beige paymentsign with printed details and rotate it to face the QR code.", + "Catch the beige paymentsign with printed details using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the paymentsign showing QR code label and rotate it until the QR faces forward", + "Employ the left arm to seize the beige paymentsign with printed details, raise it, and rotate it QR-forward", + "Lift the smooth beige paymentsign from the surface and adjust its angle towards you", + "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.", + "Lift the beige paymentsign with printed details and rotate it until the QR code faces you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the QR code paymentsign and rotate it QR code toward you.", + "Catch the QR code paymentsign, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the paymentsign showing QR code label and rotate the qrcode to face you.", + "Use the left arm to grab the small paymentsign for mobile payments, rotate, and face the QR code towards you.", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Grab the QR code paymentsign using the left arm, then rotate the QR code to face forward.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.", + "Slide the rectangular paymentsign with colorful top off the table and turn it to face you.", + "Catch the beige paymentsign with printed details, pick it up, and rotate to show the QR code.", + "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.", + "Locate the paymentsign showing QR code label, pick it up, and adjust its angle.", + "Use the left arm to take the beige paymentsign with printed details and turn it until the QR code faces you", + "Lift the small paymentsign for mobile payments from the table and turn it to face you.", + "Pick up the paymentsign showing QR code label and adjust its position to face the qrcode towards you.", + "Use the left arm to pick the QR code paymentsign and turn it towards you.", + "Use the left arm to grab the QR code paymentsign, lift, and turn it QR code forward", + "Use the left arm to grab the paymentsign with tilted rectangular panel and point its QR code toward you.", + "Lift the paymentsign resting on angled base and rotate until its qrcode faces you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign with tilted rectangular panel, pick it up, and turn its qrcode toward you.", + "Grab the beige paymentsign with printed details using the left arm, lift, and rotate until QR code faces you.", + "Lift the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the qrcode visible.", + "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the left arm.", + "Pick up the beige paymentsign and rotate it so the QR code faces you", + "Catch the QR code paymentsign, lift it, and rotate it QR code facing.", + "Take the smooth beige paymentsign from the table, rotating it QR code toward you.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Lift the paymentsign showing QR code label from the table, turning it QR code forward.", + "Grab the paymentsign with blue and white text using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Grab the stand-up paymentsign with rectangular top with the left arm, then rotate it to face yourself.", + "Grab the QR code paymentsign, lift it from the table, and rotate it QR front", + "Catch the paymentsign showing QR code label with the left arm, then rotate it to make the QR code visible.", + "Catch the paymentsign resting on angled base off the table and rotate its qrcode to you.", + "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate QR code towards you.", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the left arm.", + "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to lift the paymentsign showing QR code label from the table and face the qrcode.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it towards you", + "Using the left arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.", + "Catch the paymentsign resting on angled base using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the beige paymentsign with printed details and rotate it until the QR faces forward", + "Employ the left arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.", + "Lift the paymentsign with blue and white text and rotate it until the QR code faces you.", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the beige paymentsign with printed details and rotate it QR code toward you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate the qrcode to face you.", + "Use the left arm to grab the paymentsign showing QR code label, rotate, and face the QR code towards you.", + "Find the paymentsign with tilted rectangular panel, grab it, and turn it towards yourself.", + "Grab the paymentsign showing QR code label using the left arm, then rotate the QR code to face forward.", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Lift the compact paymentsign for scanning payments and rotate for its qrcode to face you.", + "Slide the smooth beige paymentsign off the table and turn it to face you.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.", + "Lift the beige paymentsign from the table and rotate it so the code faces you.", + "Locate the rectangular paymentsign with colorful top, pick it up, and adjust its angle.", + "Use the left arm to take the beige paymentsign and turn it until the QR code faces you", + "Lift the paymentsign showing QR code label from the table and turn it to face you.", + "Pick up the paymentsign showing QR code label and adjust its position to face the qrcode towards you.", + "Use the left arm to pick the beige paymentsign and turn it towards you.", + "Use the left arm to grab the compact paymentsign for scanning payments, lift, and turn it QR code forward", + "Use the left arm to grab the paymentsign showing QR code label and point its QR code toward you.", + "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you." + ], + "unseen": [ + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode17.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..58c2bd4cea858c55cc741266202775828fd3fc8f --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to take the yellow and white payment display and turn it until the QR code faces you", + "Use the left arm to grab the smooth plastic paymentsign with QR code, rotate, and face the QR code towards you.", + "Using the left arm, catch the tabletop paymentsign and rotate it to face the QR code.", + "Catch the white rectangular paymentsign with yellow details using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the plastic smooth paymentsign and point its QR code toward you.", + "Lift the rectangular paymentsign with stand from the surface and adjust its angle towards you", + "Catch the smooth plastic paymentsign with QR code, lift it, and adjust its QR code to face you.", + "Use the left arm to pick the white rectangular paymentsign with yellow details and turn it towards you.", + "Lift the paymentsign with QR code area and rotate until its qrcode faces you.", + "Catch the smooth plastic paymentsign with QR code off the table and rotate its qrcode to you.", + "Employ the left arm to seize the white rectangular paymentsign with yellow details, raise it, and rotate it QR-forward", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate QR code towards you.", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Use the left arm to lift the white rectangular paymentsign with yellow details and rotate it QR code toward you.", + "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Locate the sign with yellow payment section, pick it up, and adjust its angle.", + "Pick up the white rectangular paymentsign with yellow details and adjust its position to face the qrcode towards you.", + "Pick the yellow and white payment display up and turn its QR code toward you using the left arm.", + "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Lift the smooth plastic paymentsign with QR code from the table and rotate it towards you", + "Pick up the yellow panel white paymentsign and rotate it so the QR code faces you", + "Lift the white stand sign from the table and turn it to face you.", + "Find the tabletop paymentsign, grab it, and turn it towards yourself.", + "Pick the tabletop paymentsign up, then rotate to make its qrcode visible.", + "Grab the sign with yellow payment section, pick it up, and turn its qrcode toward you.", + "Catch the sign with yellow payment section, lift it, and rotate it QR code facing.", + "Lift the sign with yellow payment section and orient its QR code toward you with the left arm.", + "Lift the yellow panel white paymentsign and rotate it until the QR code faces you.", + "Lift the tabletop paymentsign from the table and rotate it so the code faces you.", + "Catch the plastic smooth paymentsign, raise it, and turn it so the QR code faces you", + "Lift the smooth plastic paymentsign with QR code from the table, turning it QR code forward.", + "Lift the sign with yellow payment section with the left arm, then rotate it to make the qrcode visible.", + "Catch the white rectangular paymentsign with yellow details, lift it, and turn the qrcode towards you.", + "Grab the smooth plastic paymentsign with QR code using the left arm, then rotate the QR code to face forward.", + "Catch the white stand sign, lift, and rotate to align the qrcode to you.", + "Grab the yellow and white payment display using the left arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign with QR code area, lift it from the table, and rotate it QR front", + "Grab the tabletop paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the yellow panel white paymentsign from the table and face the qrcode.", + "Catch the sign with yellow payment section with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the white stand sign and rotate it until the QR faces forward", + "Take the yellow panel white paymentsign, raise it, and make the qrcode face you.", + "Take the plastic smooth paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the plastic smooth paymentsign, lift, and turn it QR code forward", + "Grab the paymentsign with the left arm, then rotate it to face yourself.", + "Lift the paymentsign with QR code area and rotate for its qrcode to face you.", + "Catch and lift the plastic smooth paymentsign, then turn it to show the QR code.", + "Catch the yellow panel white paymentsign, pick it up, and rotate to view the qrcode.", + "Use the left arm to take the paymentsign with QR code area and turn it until the QR code faces you", + "Use the left arm to grab the yellow panel white paymentsign, rotate, and face the QR code towards you.", + "Using the left arm, catch the yellow panel white paymentsign and rotate it to face the QR code.", + "Catch the white rectangular paymentsign with yellow details using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the yellow and white payment display and point its QR code toward you.", + "Lift the rectangular paymentsign with stand from the surface and adjust its angle towards you", + "Catch the white rectangular paymentsign with yellow details, lift it, and adjust its QR code to face you.", + "Use the left arm to pick the yellow panel white paymentsign and turn it towards you.", + "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.", + "Catch the tabletop paymentsign off the table and rotate its qrcode to you.", + "Employ the left arm to seize the white rectangular paymentsign with yellow details, raise it, and rotate it QR-forward", + "Use the left arm to grab the sign with yellow payment section and rotate QR code towards you.", + "Slide the yellow panel white paymentsign off the table and turn it to face you.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Use the left arm to lift the white paymentsign with raised base and rotate it QR code toward you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Pick up the plastic smooth paymentsign and adjust its position to face the qrcode towards you.", + "Pick the smooth plastic paymentsign with QR code up and turn its QR code toward you using the left arm.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the white rectangular paymentsign with yellow details and rotate the qrcode to face you.", + "Lift the rectangular paymentsign with stand from the table and rotate it towards you", + "Pick up the yellow and white payment display and rotate it so the QR code faces you", + "Lift the white stand sign from the table and turn it to face you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Pick the paymentsign with QR code area up, then rotate to make its qrcode visible.", + "Grab the plastic smooth paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign with QR code area, lift it, and rotate it QR code facing.", + "Lift the white rectangular paymentsign with yellow details and orient its QR code toward you with the left arm.", + "Lift the paymentsign and rotate it until the QR code faces you.", + "Lift the yellow panel white paymentsign from the table and rotate it so the code faces you.", + "Catch the white rectangular paymentsign with yellow details, raise it, and turn it so the QR code faces you", + "Lift the tabletop paymentsign from the table, turning it QR code forward.", + "Lift the white rectangular paymentsign with yellow details with the left arm, then rotate it to make the qrcode visible.", + "Catch the white stand sign, lift it, and turn the qrcode towards you.", + "Grab the white rectangular paymentsign with yellow details using the left arm, then rotate the QR code to face forward.", + "Catch the yellow panel white paymentsign, lift, and rotate to align the qrcode to you.", + "Grab the white rectangular paymentsign with yellow details using the left arm, then rotate it until the qrcode faces you.", + "Grab the plastic smooth paymentsign, lift it from the table, and rotate it QR front", + "Grab the yellow and white payment display using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the yellow panel white paymentsign from the table and face the qrcode.", + "Catch the paymentsign with QR code area with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the sign with yellow payment section and rotate it until the QR faces forward", + "Take the rectangular paymentsign with stand, raise it, and make the qrcode face you.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the yellow panel white paymentsign, lift, and turn it QR code forward", + "Grab the yellow and white payment display with the left arm, then rotate it to face yourself.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Catch and lift the yellow panel white paymentsign, then turn it to show the QR code.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to view the qrcode." + ], + "unseen": [ + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode18.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..6940a6377c02a7a34372b46b394985e47ccd31a6 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the rectangular paymentsign with stand from the table and rotate it so the code faces you.", + "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Pick the white stand sign up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the paymentsign, lift, and turn it QR code forward", + "Grab the sign with yellow payment section, lift it from the table, and rotate it QR front", + "Lift the tabletop paymentsign and orient its QR code toward you with the right arm.", + "Grab the white rectangular paymentsign with yellow details using the right arm, then rotate it until the qrcode faces you.", + "Slide the white stand sign off the table and turn it to face you.", + "Catch the white paymentsign with raised base off the table and rotate its qrcode to you.", + "Lift the plastic smooth paymentsign from the table, turning it QR code forward.", + "Use the right arm to grab the tabletop paymentsign and rotate the qrcode to face you.", + "Pick up the white paymentsign with raised base and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate it until the QR faces forward", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the rectangular paymentsign with stand, pick it up, and rotate to view the qrcode.", + "Take the yellow and white payment display, lift it, and orient it so the QR faces you", + "Take the paymentsign with QR code area, raise it, and make the qrcode face you.", + "Use the right arm to grab the plastic smooth paymentsign, rotate, and face the QR code towards you.", + "Grab the smooth plastic paymentsign with QR code using the right arm, then rotate the QR code to face forward.", + "Use the right arm to pick the yellow panel white paymentsign and turn it towards you.", + "Lift the paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Using the right arm, catch the yellow panel white paymentsign and rotate it to face the QR code.", + "Lift the yellow and white payment display from the table and turn it to face you.", + "Grab the sign with yellow payment section with the right arm, then rotate it to face yourself.", + "Locate the sign with yellow payment section, pick it up, and adjust its angle.", + "Use the right arm to lift the yellow and white payment display from the table and face the qrcode.", + "Take the white rectangular paymentsign with yellow details from the table, rotating it QR code toward you.", + "Lift the white rectangular paymentsign with yellow details and rotate for its qrcode to face you.", + "Grab the white paymentsign with raised base using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the white paymentsign with raised base and rotate it QR code toward you.", + "Catch the yellow panel white paymentsign, raise it, and turn it so the QR code faces you", + "Lift the paymentsign from the table and rotate it towards you", + "Catch and lift the yellow and white payment display, then turn it to show the QR code.", + "Lift the yellow panel white paymentsign and rotate it until the QR code faces you.", + "Pick the smooth plastic paymentsign with QR code up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the yellow and white payment display and rotate QR code towards you.", + "Catch the yellow panel white paymentsign with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the white paymentsign with raised base and point its QR code toward you.", + "Catch the yellow panel white paymentsign, lift it, and turn the qrcode towards you.", + "Find the yellow and white payment display, grab it, and turn it towards yourself.", + "Use the right arm to take the yellow and white payment display and turn it until the QR code faces you", + "Catch the sign with yellow payment section, lift it, and rotate it QR code facing.", + "Pick up the white rectangular paymentsign with yellow details and rotate it so the QR code faces you", + "Catch the rectangular paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Catch the yellow panel white paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Employ the right arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Pick the paymentsign with QR code area up, then rotate to make its qrcode visible.", + "Catch the paymentsign with QR code area, lift it, and adjust its QR code to face you.", + "Lift the sign with yellow payment section from the table and rotate it so the code faces you.", + "Lift the white paymentsign with raised base and rotate until its qrcode faces you.", + "Catch the yellow panel white paymentsign, pick it up, and rotate to show the QR code.", + "Lift the white paymentsign with raised base from the surface and adjust its angle towards you", + "Pick the paymentsign up and turn its QR code toward you using the right arm.", + "Use the right arm to grab the sign with yellow payment section, lift, and turn it QR code forward", + "Grab the rectangular paymentsign with stand, lift it from the table, and rotate it QR front", + "Lift the tabletop paymentsign and orient its QR code toward you with the right arm.", + "Grab the tabletop paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Slide the sign with yellow payment section off the table and turn it to face you.", + "Catch the white paymentsign with raised base off the table and rotate its qrcode to you.", + "Lift the yellow and white payment display from the table, turning it QR code forward.", + "Use the right arm to grab the white paymentsign with raised base and rotate the qrcode to face you.", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Use the right arm to grab the paymentsign and rotate it until the QR faces forward", + "Grab the yellow and white payment display, pick it up, and turn its qrcode toward you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to view the qrcode.", + "Take the white stand sign, lift it, and orient it so the QR faces you", + "Take the white paymentsign with raised base, raise it, and make the qrcode face you.", + "Use the right arm to grab the plastic smooth paymentsign, rotate, and face the QR code towards you.", + "Grab the yellow panel white paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to pick the yellow panel white paymentsign and turn it towards you.", + "Lift the white paymentsign with raised base with the right arm, then rotate it to make the qrcode visible.", + "Using the right arm, catch the white paymentsign with raised base and rotate it to face the QR code.", + "Lift the tabletop paymentsign from the table and turn it to face you.", + "Grab the white paymentsign with raised base with the right arm, then rotate it to face yourself.", + "Locate the white paymentsign with raised base, pick it up, and adjust its angle.", + "Use the right arm to lift the smooth plastic paymentsign with QR code from the table and face the qrcode.", + "Take the white rectangular paymentsign with yellow details from the table, rotating it QR code toward you.", + "Lift the white paymentsign with raised base and rotate for its qrcode to face you.", + "Grab the smooth plastic paymentsign with QR code using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the plastic smooth paymentsign and rotate it QR code toward you.", + "Catch the white paymentsign with raised base, raise it, and turn it so the QR code faces you", + "Lift the paymentsign from the table and rotate it towards you", + "Catch and lift the white paymentsign with raised base, then turn it to show the QR code.", + "Lift the white rectangular paymentsign with yellow details and rotate it until the QR code faces you.", + "Pick the yellow panel white paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the sign with yellow payment section and rotate QR code towards you.", + "Catch the smooth plastic paymentsign with QR code with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the paymentsign with QR code area and point its QR code toward you.", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Find the white stand sign, grab it, and turn it towards yourself.", + "Use the right arm to take the smooth plastic paymentsign with QR code and turn it until the QR code faces you", + "Catch the white paymentsign with raised base, lift it, and rotate it QR code facing.", + "Pick up the sign with yellow payment section and rotate it so the QR code faces you", + "Catch the white stand sign, lift, and rotate to align the qrcode to you.", + "Catch the white rectangular paymentsign with yellow details using the right arm, pick it up, and turn it to face the QR code.", + "Employ the right arm to seize the yellow panel white paymentsign, raise it, and rotate it QR-forward", + "Pick the paymentsign with QR code area up, then rotate to make its qrcode visible.", + "Catch the paymentsign with QR code area, lift it, and adjust its QR code to face you." + ], + "unseen": [ + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and rotate it", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and make it face you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode19.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..760216732f3956db5f4691a4647de06c2bc7c8bf --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small payment stand with black base from the table and turn it to face you.", + "Catch the slanted gray panel for QR code scan, lift, and rotate to align the qrcode to you.", + "Catch the payment sign with green logo with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the black base with tilted gray panel and rotate the qrcode to face you.", + "Catch and lift the gray slanted panel with text, then turn it to show the QR code.", + "Employ the left arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Use the left arm to take the tabletop-sized payment sign and turn it until the QR code faces you", + "Take the triangular stand with QR code, raise it, and make the qrcode face you.", + "Lift the tabletop-sized payment sign and rotate until its qrcode faces you.", + "Lift the tabletop-sized payment sign from the table and rotate it towards you", + "Lift the black base with tilted gray panel and rotate it until the QR code faces you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Catch the payment sign with green logo using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to lift the triangular stand with QR code and rotate it QR code toward you.", + "Lift the tabletop-sized payment sign from the table, turning it QR code forward.", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Grab the black base with tilted gray panel with the left arm, then rotate it to face yourself.", + "Pick the slanted gray panel for QR code scan up and turn its QR code toward you using the left arm.", + "Catch the black base with tilted gray panel, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Grab the payment sign with angled face, pick it up, and turn its qrcode toward you.", + "Lift the black base with tilted gray panel with the left arm, then rotate it to make the qrcode visible.", + "Slide the gray top with QR code off the table and turn it to face you.", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the small payment stand with black base, lift, and turn it QR code forward", + "Use the left arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Take the small payment stand with black base, lift it, and orient it so the QR faces you", + "Grab the small payment stand with black base, lift it from the table, and rotate it QR front", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.", + "Using the left arm, catch the paymentsign and rotate it to face the QR code.", + "Pick up the gray top with QR code and adjust its position to face the qrcode towards you.", + "Grab the gray slanted panel with text using the left arm, then rotate the QR code to face forward.", + "Pick up the small black stand for payments and rotate it so the QR code faces you", + "Pick the payment sign with angled face up, then rotate to make its qrcode visible.", + "Catch the gray top with QR code, raise it, and turn it so the QR code faces you", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Pick the small black stand for payments up, rotate it, and ensure the QR code faces you.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Use the left arm to grab the green payment logo on gray top and rotate QR code towards you.", + "Use the left arm to grab the slanted gray panel for QR code scan, rotate, and face the QR code towards you.", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Grab the tabletop-sized payment sign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the black base with tilted gray panel from the table and face the qrcode.", + "Use the left arm to pick the small black stand for payments and turn it towards you.", + "Lift the gray top with QR code and orient its QR code toward you with the left arm.", + "Grab the black base with tilted gray panel using the left arm, then rotate it until the qrcode faces you.", + "Lift the small payment stand with black base from the table and turn it to face you.", + "Catch the slanted gray panel for QR code scan, lift, and rotate to align the qrcode to you.", + "Catch the green payment logo on gray top with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the triangular stand with QR code and rotate the qrcode to face you.", + "Catch and lift the small payment stand with black base, then turn it to show the QR code.", + "Employ the left arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Use the left arm to take the black base with tilted gray panel and turn it until the QR code faces you", + "Take the payment sign with green logo, raise it, and make the qrcode face you.", + "Lift the gray slanted panel with text and rotate until its qrcode faces you.", + "Lift the paymentsign from the table and rotate it towards you", + "Lift the gray slanted panel with text and rotate it until the QR code faces you.", + "Find the small payment stand with black base, grab it, and turn it towards yourself.", + "Catch the triangular stand with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to lift the triangular stand with QR code and rotate it QR code toward you.", + "Lift the triangular stand with QR code from the table, turning it QR code forward.", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Pick the gray top with QR code up and turn its QR code toward you using the left arm.", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the black base with tilted gray panel and point its QR code toward you.", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the gray top with QR code with the left arm, then rotate it to make the qrcode visible.", + "Slide the paymentsign off the table and turn it to face you.", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Lift the payment sign with green logo and rotate for its qrcode to face you.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Catch the small payment stand with black base, pick it up, and rotate to show the QR code.", + "Using the left arm, catch the slanted gray panel for QR code scan and rotate it to face the QR code.", + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Grab the small black stand for payments using the left arm, then rotate the QR code to face forward.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Pick the triangular stand with QR code up, then rotate to make its qrcode visible.", + "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you", + "Lift the black base with tilted gray panel from the surface and adjust its angle towards you", + "Catch the small black stand for payments, lift it, and adjust its QR code to face you.", + "Pick the slanted gray panel for QR code scan up, rotate it, and ensure the QR code faces you.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Catch the black base with tilted gray panel, lift it, and rotate it QR code facing.", + "Use the left arm to grab the gray top with QR code and rotate QR code towards you.", + "Use the left arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Catch the payment sign with green logo off the table and rotate its qrcode to you.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Grab the small payment stand with black base using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the small black stand for payments from the table and face the qrcode.", + "Use the left arm to pick the green payment logo on gray top and turn it towards you.", + "Lift the gray top with QR code and orient its QR code toward you with the left arm.", + "Grab the green payment logo on gray top using the left arm, then rotate it until the qrcode faces you." + ], + "unseen": [ + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode2.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..90b2aad8c5a6706bd0fddfe74e6cb0a5dec27384 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the beige paymentsign with printed details and adjust its position to face the qrcode towards you.", + "Lift the beige paymentsign with printed details from the surface and adjust its angle towards you", + "Grab the paymentsign with tilted rectangular panel with the left arm, then rotate it to face yourself.", + "Take the rectangular paymentsign with colorful top from the table, rotating it QR code toward you.", + "Grab the compact paymentsign for scanning payments using the left arm, then rotate the QR code to face forward.", + "Catch the paymentsign with tilted rectangular panel, lift it, and turn the qrcode towards you.", + "Use the left arm to pick the stand-up paymentsign with rectangular top and turn it towards you.", + "Pick the smooth beige paymentsign up and turn its QR code toward you using the left arm.", + "Catch and lift the rectangular paymentsign with colorful top, then turn it to show the QR code.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Use the left arm to grab the paymentsign resting on angled base and rotate the qrcode to face you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Slide the beige paymentsign with printed details off the table and turn it to face you.", + "Pick up the beige paymentsign and rotate it so the QR code faces you", + "Using the left arm, catch the QR code paymentsign and rotate it to face the QR code.", + "Lift the rectangular paymentsign with colorful top and rotate it until the QR code faces you.", + "Lift the paymentsign resting on angled base and orient its QR code toward you with the left arm.", + "Take the paymentsign with tilted rectangular panel, lift it, and orient it so the QR faces you", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Catch the paymentsign showing QR code label, lift, and rotate to align the qrcode to you.", + "Grab the beige paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the smooth beige paymentsign from the table and face the qrcode.", + "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Use the left arm to grab the beige paymentsign with printed details and rotate QR code towards you.", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front", + "Grab the QR code paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.", + "Employ the left arm to seize the beige paymentsign with printed details, raise it, and rotate it QR-forward", + "Lift the small paymentsign for mobile payments from the table, turning it QR code forward.", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Lift the small paymentsign for mobile payments from the table and turn it to face you.", + "Use the left arm to take the stand-up paymentsign with rectangular top and turn it until the QR code faces you", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Pick the paymentsign showing QR code label up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the paymentsign showing QR code label, lift, and turn it QR code forward", + "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Catch the beige paymentsign, lift it, and rotate it QR code facing.", + "Catch the paymentsign showing QR code label with the left arm, then rotate it to make the QR code visible.", + "Lift the paymentsign resting on angled base with the left arm, then rotate it to make the qrcode visible.", + "Lift the smooth beige paymentsign and rotate until its qrcode faces you.", + "Use the left arm to grab the smooth beige paymentsign and rotate it until the QR faces forward", + "Catch the paymentsign resting on angled base using the left arm, pick it up, and turn it to face the QR code.", + "Locate the smooth beige paymentsign, pick it up, and adjust its angle.", + "Pick up the beige paymentsign with printed details and adjust its position to face the qrcode towards you.", + "Lift the stand-up paymentsign with rectangular top from the surface and adjust its angle towards you", + "Grab the compact paymentsign for scanning payments with the left arm, then rotate it to face yourself.", + "Take the QR code paymentsign from the table, rotating it QR code toward you.", + "Grab the compact paymentsign for scanning payments using the left arm, then rotate the QR code to face forward.", + "Catch the QR code paymentsign, lift it, and turn the qrcode towards you.", + "Use the left arm to pick the QR code paymentsign and turn it towards you.", + "Pick the smooth beige paymentsign up and turn its QR code toward you using the left arm.", + "Catch and lift the QR code paymentsign, then turn it to show the QR code.", + "Pick the paymentsign resting on angled base up, then rotate to make its qrcode visible.", + "Use the left arm to grab the paymentsign resting on angled base and rotate the qrcode to face you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Slide the rectangular paymentsign with colorful top off the table and turn it to face you.", + "Pick up the paymentsign resting on angled base and rotate it so the QR code faces you", + "Using the left arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Lift the QR code paymentsign and rotate it until the QR code faces you.", + "Lift the QR code paymentsign and orient its QR code toward you with the left arm.", + "Take the stand-up paymentsign with rectangular top, lift it, and orient it so the QR faces you", + "Lift the smooth beige paymentsign and rotate for its qrcode to face you.", + "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.", + "Catch the paymentsign with tilted rectangular panel, lift, and rotate to align the qrcode to you.", + "Grab the smooth beige paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the QR code paymentsign from the table and face the qrcode.", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the paymentsign resting on angled base, rotate, and face the QR code towards you.", + "Use the left arm to grab the beige paymentsign with printed details and rotate QR code towards you.", + "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.", + "Grab the rectangular paymentsign with colorful top, lift it from the table, and rotate it QR front", + "Grab the compact paymentsign for scanning payments using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.", + "Employ the left arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward", + "Lift the beige paymentsign from the table, turning it QR code forward.", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Lift the beige paymentsign with printed details from the table and turn it to face you.", + "Use the left arm to take the paymentsign with tilted rectangular panel and turn it until the QR code faces you", + "Lift the compact paymentsign for scanning payments from the table and rotate it so the code faces you.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Catch the paymentsign resting on angled base, pick it up, and rotate to view the qrcode.", + "Grab the compact paymentsign for scanning payments, pick it up, and turn its qrcode toward you.", + "Pick the paymentsign showing QR code label up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward", + "Use the left arm to lift the compact paymentsign for scanning payments and rotate it QR code toward you.", + "Find the beige paymentsign, grab it, and turn it towards yourself.", + "Catch the compact paymentsign for scanning payments, lift it, and rotate it QR code facing.", + "Catch the rectangular paymentsign with colorful top with the left arm, then rotate it to make the QR code visible.", + "Lift the small paymentsign for mobile payments with the left arm, then rotate it to make the qrcode visible.", + "Lift the beige paymentsign and rotate until its qrcode faces you.", + "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate it until the QR faces forward", + "Catch the small paymentsign for mobile payments using the left arm, pick it up, and turn it to face the QR code.", + "Locate the beige paymentsign with printed details, pick it up, and adjust its angle." + ], + "unseen": [ + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode20.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..b0742e4c8e310c4b80538c1ef1a76cc7e7cd1650 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the paymentsign and rotate for its qrcode to face you.", + "Use the left arm to grab the black base with tilted gray panel, lift, and turn it QR code forward", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Employ the left arm to seize the black base with tilted gray panel, raise it, and rotate it QR-forward", + "Grab the triangular stand with QR code using the left arm, lift, and rotate until QR code faces you.", + "Grab the triangular stand with QR code using the left arm, then rotate it until the qrcode faces you.", + "Find the black base with tilted gray panel, grab it, and turn it towards yourself.", + "Lift the triangular stand with QR code and rotate it until the QR code faces you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Catch the slanted gray panel for QR code scan, raise it, and turn it so the QR code faces you", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Use the left arm to grab the gray top with QR code and point its QR code toward you.", + "Lift the slanted gray panel for QR code scan from the table, turning it QR code forward.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Use the left arm to grab the payment sign with angled face, rotate, and face the QR code towards you.", + "Lift the triangular stand with QR code and orient its QR code toward you with the left arm.", + "Catch the payment sign with angled face, lift it, and rotate it QR code facing.", + "Using the left arm, catch the black base with tilted gray panel and rotate it to face the QR code.", + "Grab the green payment logo on gray top with the left arm, then rotate it to face yourself.", + "Use the left arm to grab the paymentsign and rotate QR code towards you.", + "Lift the green payment logo on gray top and rotate until its qrcode faces you.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Pick up the green payment logo on gray top and rotate it so the QR code faces you", + "Use the left arm to lift the gray slanted panel with text and rotate it QR code toward you.", + "Use the left arm to pick the gray slanted panel with text and turn it towards you.", + "Catch the black base with tilted gray panel off the table and rotate its qrcode to you.", + "Use the left arm to lift the black base with tilted gray panel from the table and face the qrcode.", + "Use the left arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Locate the tabletop-sized payment sign, pick it up, and adjust its angle.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the left arm.", + "Lift the green payment logo on gray top with the left arm, then rotate it to make the qrcode visible.", + "Catch the slanted gray panel for QR code scan, lift, and rotate to align the qrcode to you.", + "Pick the gray top with QR code up, then rotate to make its qrcode visible.", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Lift the gray top with QR code from the table and rotate it so the code faces you.", + "Grab the green payment logo on gray top using the left arm, then rotate the QR code to face forward.", + "Catch and lift the gray slanted panel with text, then turn it to show the QR code.", + "Catch the small payment stand with black base, lift it, and adjust its QR code to face you.", + "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.", + "Slide the slanted gray panel for QR code scan off the table and turn it to face you.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Catch the gray slanted panel with text with the left arm, then rotate it to make the QR code visible.", + "Lift the green payment logo on gray top and rotate for its qrcode to face you.", + "Use the left arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Use the left arm to take the triangular stand with QR code and turn it until the QR code faces you", + "Employ the left arm to seize the payment sign with green logo, raise it, and rotate it QR-forward", + "Grab the gray slanted panel with text using the left arm, lift, and rotate until QR code faces you.", + "Grab the gray slanted panel with text using the left arm, then rotate it until the qrcode faces you.", + "Find the small black stand for payments, grab it, and turn it towards yourself.", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Pick the tabletop-sized payment sign up, rotate it, and ensure the QR code faces you.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Catch the small payment stand with black base, raise it, and turn it so the QR code faces you", + "Lift the green payment logo on gray top from the table and rotate it towards you", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Lift the slanted gray panel for QR code scan from the table, turning it QR code forward.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Use the left arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Lift the payment sign with angled face and orient its QR code toward you with the left arm.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Using the left arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Grab the tabletop-sized payment sign with the left arm, then rotate it to face yourself.", + "Use the left arm to grab the tabletop-sized payment sign and rotate QR code towards you.", + "Lift the payment sign with angled face and rotate until its qrcode faces you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Pick up the small black stand for payments and rotate it so the QR code faces you", + "Use the left arm to lift the small black stand for payments and rotate it QR code toward you.", + "Use the left arm to pick the gray top with QR code and turn it towards you.", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to lift the gray slanted panel with text from the table and face the qrcode.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Grab the small black stand for payments, pick it up, and turn its qrcode toward you.", + "Locate the payment sign with green logo, pick it up, and adjust its angle.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Lift the payment sign with green logo with the left arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Pick the triangular stand with QR code up, then rotate to make its qrcode visible.", + "Catch the black base with tilted gray panel, pick it up, and rotate to view the qrcode.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Catch and lift the slanted gray panel for QR code scan, then turn it to show the QR code.", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Pick up the tabletop-sized payment sign and adjust its position to face the qrcode towards you.", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Catch the tabletop-sized payment sign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the tabletop-sized payment sign, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Take the gray top with QR code, lift it, and orient it so the QR faces you", + "Catch the payment sign with green logo with the left arm, then rotate it to make the QR code visible." + ], + "unseen": [ + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode21.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..f86249f5ede7554e07d0d13bce1bf520f4f2a945 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the compact paymentsign for scanning payments and rotate the qrcode to face you.", + "Catch the paymentsign with blue and white text with the right arm, then rotate it to make the QR code visible.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Pick up the paymentsign with blue and white text and adjust its position to face the qrcode towards you.", + "Lift the rectangular paymentsign with colorful top with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the smooth beige paymentsign, lift, and turn it QR code forward", + "Lift the compact paymentsign for scanning payments from the table and rotate it towards you", + "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the right arm.", + "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.", + "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.", + "Catch the rectangular paymentsign with colorful top using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Grab the beige paymentsign with printed details using the right arm, then rotate it until the qrcode faces you.", + "Catch the beige paymentsign with printed details, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign with blue and white text, raise it, and turn it so the QR code faces you", + "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.", + "Employ the right arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Lift the smooth beige paymentsign from the table and rotate it so the code faces you.", + "Grab the compact paymentsign for scanning payments using the right arm, then rotate the QR code to face forward.", + "Lift the paymentsign resting on angled base from the table, turning it QR code forward.", + "Lift the QR code paymentsign and orient its QR code toward you with the right arm.", + "Lift the stand-up paymentsign with rectangular top and rotate until its qrcode faces you.", + "Use the right arm to pick the compact paymentsign for scanning payments and turn it towards you.", + "Lift the small paymentsign for mobile payments and rotate for its qrcode to face you.", + "Catch the paymentsign resting on angled base, lift it, and adjust its QR code to face you.", + "Grab the beige paymentsign with printed details with the right arm, then rotate it to face yourself.", + "Grab the smooth beige paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the QR code paymentsign and rotate it until the QR faces forward", + "Catch the paymentsign with tilted rectangular panel off the table and rotate its qrcode to you.", + "Use the right arm to grab the QR code paymentsign and rotate QR code towards you.", + "Take the QR code paymentsign from the table, rotating it QR code toward you.", + "Pick the paymentsign resting on angled base up, then rotate to make its qrcode visible.", + "Grab the small paymentsign for mobile payments using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the QR code paymentsign, rotate, and face the QR code towards you.", + "Lift the paymentsign with blue and white text from the table and turn it to face you.", + "Locate the paymentsign with tilted rectangular panel, pick it up, and adjust its angle.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Take the smooth beige paymentsign, lift it, and orient it so the QR faces you", + "Use the right arm to take the beige paymentsign and turn it until the QR code faces you", + "Use the right arm to grab the paymentsign with blue and white text and point its QR code toward you.", + "Use the right arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Using the right arm, catch the smooth beige paymentsign and rotate it to face the QR code.", + "Use the right arm to lift the paymentsign resting on angled base from the table and face the qrcode.", + "Grab the beige paymentsign with printed details, lift it from the table, and rotate it QR front", + "Take the QR code paymentsign, raise it, and make the qrcode face you.", + "Catch the compact paymentsign for scanning payments, lift it, and turn the qrcode towards you.", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the smooth beige paymentsign and rotate the qrcode to face you.", + "Catch the paymentsign showing QR code label with the right arm, then rotate it to make the QR code visible.", + "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Lift the QR code paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign showing QR code label, lift, and turn it QR code forward", + "Lift the smooth beige paymentsign from the table and rotate it towards you", + "Lift the paymentsign showing QR code label from the surface and adjust its angle towards you", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Pick the small paymentsign for mobile payments up and turn its QR code toward you using the right arm.", + "Lift the beige paymentsign with printed details and rotate it until the QR code faces you.", + "Catch the beige paymentsign, lift it, and rotate it QR code facing.", + "Catch the compact paymentsign for scanning payments using the right arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.", + "Grab the paymentsign resting on angled base using the right arm, then rotate it until the qrcode faces you.", + "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to view the qrcode.", + "Employ the right arm to seize the beige paymentsign, raise it, and rotate it QR-forward", + "Lift the QR code paymentsign from the table and rotate it so the code faces you.", + "Grab the paymentsign with blue and white text using the right arm, then rotate the QR code to face forward.", + "Lift the smooth beige paymentsign from the table, turning it QR code forward.", + "Lift the rectangular paymentsign with colorful top and orient its QR code toward you with the right arm.", + "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.", + "Use the right arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Lift the QR code paymentsign and rotate for its qrcode to face you.", + "Catch the beige paymentsign with printed details, lift it, and adjust its QR code to face you.", + "Grab the QR code paymentsign with the right arm, then rotate it to face yourself.", + "Grab the smooth beige paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the paymentsign with blue and white text and rotate it until the QR faces forward", + "Catch the compact paymentsign for scanning payments off the table and rotate its qrcode to you.", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate QR code towards you.", + "Take the paymentsign with blue and white text from the table, rotating it QR code toward you.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Grab the compact paymentsign for scanning payments using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the compact paymentsign for scanning payments, rotate, and face the QR code towards you.", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Locate the small paymentsign for mobile payments, pick it up, and adjust its angle.", + "Catch and lift the paymentsign with tilted rectangular panel, then turn it to show the QR code.", + "Take the stand-up paymentsign with rectangular top, lift it, and orient it so the QR faces you", + "Use the right arm to take the compact paymentsign for scanning payments and turn it until the QR code faces you", + "Use the right arm to grab the small paymentsign for mobile payments and point its QR code toward you.", + "Use the right arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Using the right arm, catch the paymentsign resting on angled base and rotate it to face the QR code.", + "Use the right arm to lift the compact paymentsign for scanning payments from the table and face the qrcode.", + "Grab the beige paymentsign with printed details, lift it from the table, and rotate it QR front", + "Take the beige paymentsign, raise it, and make the qrcode face you.", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Pick the stand-up paymentsign with rectangular top up, rotate it, and ensure the QR code faces you." + ], + "unseen": [ + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode22.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..6ea5cc70dea218b4e2802136ef18144cfc0a3216 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Employ the left arm to seize the paymentsign for scanning QR codes, raise it, and rotate it QR-forward", + "Take the rectangular plastic paymentsign, lift it, and orient it so the QR faces you", + "Lift the blue and white rectangular paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Find the paymentsign with angled black stand, grab it, and turn it towards yourself.", + "Use the left arm to take the small paymentsign with stand and turn it until the QR code faces you", + "Pick the tabletop paymentsign up, then rotate to make its qrcode visible.", + "Lift the blue and white paymentsign from the table and rotate it towards you", + "Lift the small glossy paymentsign from the table, turning it QR code forward.", + "Pick the rectangular plastic paymentsign up, rotate it, and ensure the QR code faces you.", + "Pick the blue and white paymentsign up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the paymentsign with glossy blue panel, lift, and turn it QR code forward", + "Grab the rectangular plastic paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Lift the blue and white paymentsign and rotate until its qrcode faces you.", + "Catch the rectangular plastic paymentsign with codes, lift it, and adjust its QR code to face you.", + "Locate the blue and white rectangular paymentsign, pick it up, and adjust its angle.", + "Use the left arm to lift the paymentsign for scanning QR codes from the table and face the qrcode.", + "Catch and lift the paymentsign with printed QR codes, then turn it to show the QR code.", + "Using the left arm, catch the rectangular plastic paymentsign with codes and rotate it to face the QR code.", + "Catch the paymentsign with glossy blue panel, lift it, and turn the qrcode towards you.", + "Lift the small paymentsign with stand from the surface and adjust its angle towards you", + "Use the left arm to grab the paymentsign for scanning QR codes, rotate, and face the QR code towards you.", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Lift the rectangular plastic paymentsign with codes and rotate it until the QR code faces you.", + "Grab the rectangular plastic paymentsign with codes using the left arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to show the QR code.", + "Catch the small paymentsign with stand with the left arm, then rotate it to make the QR code visible.", + "Catch the paymentsign with glossy blue panel using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the rectangular plastic paymentsign and point its QR code toward you.", + "Lift the paymentsign with printed QR codes from the table and turn it to face you.", + "Take the small glossy paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to grab the paymentsign for scanning QR codes and rotate QR code towards you.", + "Use the left arm to grab the paymentsign with glossy blue panel and rotate it until the QR faces forward", + "Lift the smooth surface paymentsign from the table and rotate it so the code faces you.", + "Catch the smooth surface paymentsign, lift it, and rotate it QR code facing.", + "Catch the rectangular plastic paymentsign with codes off the table and rotate its qrcode to you.", + "Pick up the rectangular plastic paymentsign and rotate it so the QR code faces you", + "Lift the tabletop paymentsign and orient its QR code toward you with the left arm.", + "Pick up the blue and white paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the small glossy paymentsign and rotate the qrcode to face you.", + "Catch the paymentsign with printed QR codes, raise it, and turn it so the QR code faces you", + "Grab the blue and white rectangular paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the small paymentsign with stand and rotate for its qrcode to face you.", + "Grab the smooth surface paymentsign using the left arm, then rotate the QR code to face forward.", + "Catch the rectangular plastic paymentsign, lift, and rotate to align the qrcode to you.", + "Grab the paymentsign with glossy blue panel with the left arm, then rotate it to face yourself.", + "Use the left arm to pick the paymentsign for scanning QR codes and turn it towards you.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to view the qrcode.", + "Use the left arm to lift the paymentsign for scanning QR codes and rotate it QR code toward you.", + "Grab the paymentsign with angled black stand, lift it from the table, and rotate it QR front", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Employ the left arm to seize the small glossy paymentsign, raise it, and rotate it QR-forward", + "Take the blue and white rectangular paymentsign, lift it, and orient it so the QR faces you", + "Lift the rectangular plastic paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Find the rectangular plastic paymentsign with codes, grab it, and turn it towards yourself.", + "Use the left arm to take the smooth surface paymentsign and turn it until the QR code faces you", + "Pick the rectangular plastic paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign with printed QR codes from the table and rotate it towards you", + "Lift the blue and white rectangular paymentsign from the table, turning it QR code forward.", + "Pick the rectangular plastic paymentsign up, rotate it, and ensure the QR code faces you.", + "Pick the blue and white rectangular paymentsign up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the paymentsign with printed QR codes, lift, and turn it QR code forward", + "Grab the small glossy paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign for scanning QR codes and rotate until its qrcode faces you.", + "Catch the blue and white rectangular paymentsign, lift it, and adjust its QR code to face you.", + "Locate the small glossy paymentsign, pick it up, and adjust its angle.", + "Use the left arm to lift the tabletop paymentsign from the table and face the qrcode.", + "Catch and lift the blue and white rectangular paymentsign, then turn it to show the QR code.", + "Using the left arm, catch the blue and white paymentsign and rotate it to face the QR code.", + "Catch the smooth surface paymentsign, lift it, and turn the qrcode towards you.", + "Lift the paymentsign with printed QR codes from the surface and adjust its angle towards you", + "Use the left arm to grab the small paymentsign with stand, rotate, and face the QR code towards you.", + "Slide the paymentsign with angled black stand off the table and turn it to face you.", + "Lift the paymentsign for scanning QR codes and rotate it until the QR code faces you.", + "Grab the small paymentsign with stand using the left arm, lift, and rotate until QR code faces you.", + "Catch the small paymentsign with stand, pick it up, and rotate to show the QR code.", + "Catch the paymentsign with glossy blue panel with the left arm, then rotate it to make the QR code visible.", + "Catch the blue and white rectangular paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the paymentsign for scanning QR codes and point its QR code toward you.", + "Lift the paymentsign with angled black stand from the table and turn it to face you.", + "Take the rectangular plastic paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to grab the smooth surface paymentsign and rotate QR code towards you.", + "Use the left arm to grab the small paymentsign with stand and rotate it until the QR faces forward", + "Lift the paymentsign with printed QR codes from the table and rotate it so the code faces you.", + "Catch the paymentsign with glossy blue panel, lift it, and rotate it QR code facing.", + "Catch the tabletop paymentsign off the table and rotate its qrcode to you.", + "Pick up the tabletop paymentsign and rotate it so the QR code faces you", + "Lift the tabletop paymentsign and orient its QR code toward you with the left arm.", + "Pick up the rectangular plastic paymentsign with codes and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the blue and white paymentsign and rotate the qrcode to face you.", + "Catch the small paymentsign with stand, raise it, and turn it so the QR code faces you", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the rectangular plastic paymentsign and rotate for its qrcode to face you.", + "Grab the smooth surface paymentsign using the left arm, then rotate the QR code to face forward.", + "Catch the smooth surface paymentsign, lift, and rotate to align the qrcode to you.", + "Grab the paymentsign with angled black stand with the left arm, then rotate it to face yourself.", + "Use the left arm to pick the paymentsign with angled black stand and turn it towards you.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to view the qrcode.", + "Use the left arm to lift the smooth surface paymentsign and rotate it QR code toward you.", + "Grab the paymentsign for scanning QR codes, lift it from the table, and rotate it QR front", + "Take the paymentsign with angled black stand from the table, rotating it QR code toward you." + ], + "unseen": [ + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode23.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..9e07ad0c0caf384d87e2d87a2d14cb0117a1ea9c --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the small glossy paymentsign up and turn its QR code toward you using the left arm.", + "Lift the paymentsign with angled black stand from the surface and adjust its angle towards you", + "Catch the paymentsign with angled black stand, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the smooth surface paymentsign, rotate, and face the QR code towards you.", + "Use the left arm to pick the small glossy paymentsign and turn it towards you.", + "Catch the blue and white paymentsign, pick it up, and rotate to show the QR code.", + "Pick up the smooth surface paymentsign and rotate it so the QR code faces you", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the paymentsign with printed QR codes and point its QR code toward you.", + "Locate the rectangular plastic paymentsign with codes, pick it up, and adjust its angle.", + "Slide the blue and white paymentsign off the table and turn it to face you.", + "Use the left arm to lift the rectangular plastic paymentsign with codes from the table and face the qrcode.", + "Grab the rectangular plastic paymentsign with codes using the left arm, lift, and rotate until QR code faces you.", + "Catch and lift the rectangular plastic paymentsign, then turn it to show the QR code.", + "Catch the paymentsign with printed QR codes, lift it, and adjust its QR code to face you.", + "Pick the tabletop paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the smooth surface paymentsign with the left arm, then rotate it to face yourself.", + "Lift the blue and white paymentsign and rotate for its qrcode to face you.", + "Grab the blue and white rectangular paymentsign using the left arm, then rotate the QR code to face forward.", + "Catch the small paymentsign with stand off the table and rotate its qrcode to you.", + "Use the left arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Using the left arm, catch the small paymentsign with stand and rotate it to face the QR code.", + "Use the left arm to grab the paymentsign with glossy blue panel, lift, and turn it QR code forward", + "Catch the paymentsign with angled black stand with the left arm, then rotate it to make the QR code visible.", + "Take the small paymentsign with stand, lift it, and orient it so the QR faces you", + "Use the left arm to grab the paymentsign for scanning QR codes and rotate QR code towards you.", + "Use the left arm to take the paymentsign with printed QR codes and turn it until the QR code faces you", + "Catch the smooth surface paymentsign, lift it, and turn the qrcode towards you.", + "Pick up the blue and white rectangular paymentsign and adjust its position to face the qrcode towards you.", + "Grab the small glossy paymentsign, lift it from the table, and rotate it QR front", + "Lift the paymentsign with printed QR codes from the table and rotate it towards you", + "Lift the small paymentsign with stand and rotate until its qrcode faces you.", + "Lift the blue and white paymentsign and orient its QR code toward you with the left arm.", + "Catch the blue and white rectangular paymentsign, lift, and rotate to align the qrcode to you.", + "Take the paymentsign with angled black stand, raise it, and make the qrcode face you.", + "Take the small paymentsign with stand from the table, rotating it QR code toward you.", + "Lift the small glossy paymentsign and rotate it until the QR code faces you.", + "Grab the small glossy paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Find the small paymentsign with stand, grab it, and turn it towards yourself.", + "Lift the paymentsign with printed QR codes from the table, turning it QR code forward.", + "Lift the paymentsign with angled black stand from the table and rotate it so the code faces you.", + "Pick the paymentsign with glossy blue panel up, then rotate to make its qrcode visible.", + "Lift the blue and white paymentsign from the table and turn it to face you.", + "Catch the paymentsign with glossy blue panel, lift it, and rotate it QR code facing.", + "Use the left arm to grab the blue and white paymentsign and rotate the qrcode to face you.", + "Catch the rectangular plastic paymentsign with codes using the left arm, pick it up, and turn it to face the QR code.", + "Lift the blue and white paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Employ the left arm to seize the small paymentsign with stand, raise it, and rotate it QR-forward", + "Use the left arm to lift the small glossy paymentsign and rotate it QR code toward you.", + "Pick the small glossy paymentsign up and turn its QR code toward you using the left arm.", + "Lift the small glossy paymentsign from the surface and adjust its angle towards you", + "Catch the blue and white rectangular paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the tabletop paymentsign, rotate, and face the QR code towards you.", + "Use the left arm to pick the paymentsign for scanning QR codes and turn it towards you.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to show the QR code.", + "Pick up the smooth surface paymentsign and rotate it so the QR code faces you", + "Grab the small paymentsign with stand, pick it up, and turn its qrcode toward you.", + "Catch the small paymentsign with stand, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the rectangular plastic paymentsign with codes and point its QR code toward you.", + "Locate the paymentsign for scanning QR codes, pick it up, and adjust its angle.", + "Slide the paymentsign with angled black stand off the table and turn it to face you.", + "Use the left arm to lift the tabletop paymentsign from the table and face the qrcode.", + "Grab the paymentsign for scanning QR codes using the left arm, lift, and rotate until QR code faces you.", + "Catch and lift the small paymentsign with stand, then turn it to show the QR code.", + "Catch the paymentsign for scanning QR codes, lift it, and adjust its QR code to face you.", + "Pick the smooth surface paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign for scanning QR codes with the left arm, then rotate it to face yourself.", + "Lift the rectangular plastic paymentsign with codes and rotate for its qrcode to face you.", + "Grab the rectangular plastic paymentsign with codes using the left arm, then rotate the QR code to face forward.", + "Catch the blue and white paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to grab the blue and white rectangular paymentsign and rotate it until the QR faces forward", + "Using the left arm, catch the blue and white paymentsign and rotate it to face the QR code.", + "Use the left arm to grab the rectangular plastic paymentsign with codes, lift, and turn it QR code forward", + "Catch the paymentsign with glossy blue panel with the left arm, then rotate it to make the QR code visible.", + "Take the small glossy paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the blue and white rectangular paymentsign and rotate QR code towards you.", + "Use the left arm to take the small paymentsign with stand and turn it until the QR code faces you", + "Catch the small paymentsign with stand, lift it, and turn the qrcode towards you.", + "Pick up the rectangular plastic paymentsign and adjust its position to face the qrcode towards you.", + "Grab the rectangular plastic paymentsign with codes, lift it from the table, and rotate it QR front", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Lift the small glossy paymentsign and orient its QR code toward you with the left arm.", + "Catch the small glossy paymentsign, lift, and rotate to align the qrcode to you.", + "Take the paymentsign with angled black stand, raise it, and make the qrcode face you.", + "Take the blue and white paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign for scanning QR codes and rotate it until the QR code faces you.", + "Grab the rectangular plastic paymentsign with codes using the left arm, then rotate it until the qrcode faces you.", + "Find the small paymentsign with stand, grab it, and turn it towards yourself.", + "Lift the paymentsign with angled black stand from the table, turning it QR code forward.", + "Lift the paymentsign with angled black stand from the table and rotate it so the code faces you.", + "Pick the tabletop paymentsign up, then rotate to make its qrcode visible.", + "Lift the smooth surface paymentsign from the table and turn it to face you.", + "Catch the small paymentsign with stand, lift it, and rotate it QR code facing.", + "Use the left arm to grab the paymentsign with printed QR codes and rotate the qrcode to face you.", + "Catch the rectangular plastic paymentsign with codes using the left arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign for scanning QR codes with the left arm, then rotate it to make the qrcode visible.", + "Employ the left arm to seize the rectangular plastic paymentsign with codes, raise it, and rotate it QR-forward", + "Use the left arm to lift the paymentsign with angled black stand and rotate it QR code toward you." + ], + "unseen": [ + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode24.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..5453f0fedbbb66340f44f3c10afaba2a8c1f87b6 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Lift the small payment stand with black base from the table and turn it to face you.", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Pick up the tabletop-sized payment sign and rotate it so the QR code faces you", + "Catch the small payment stand with black base with the left arm, then rotate it to make the QR code visible.", + "Take the small black stand for payments, raise it, and make the qrcode face you.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate it until the QR faces forward", + "Lift the green payment logo on gray top and rotate it until the QR code faces you.", + "Catch the green payment logo on gray top, pick it up, and rotate to view the qrcode.", + "Employ the left arm to seize the triangular stand with QR code, raise it, and rotate it QR-forward", + "Use the left arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Use the left arm to take the triangular stand with QR code and turn it until the QR code faces you", + "Use the left arm to lift the paymentsign from the table and face the qrcode.", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Use the left arm to grab the gray top with QR code, rotate, and face the QR code towards you.", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Lift the gray top with QR code from the table and rotate it so the code faces you.", + "Take the gray top with QR code from the table, rotating it QR code toward you.", + "Lift the payment sign with angled face and rotate until its qrcode faces you.", + "Lift the slanted gray panel for QR code scan and orient its QR code toward you with the left arm.", + "Pick the gray top with QR code up, then rotate to make its qrcode visible.", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Find the gray slanted panel with text, grab it, and turn it towards yourself.", + "Pick the green payment logo on gray top up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Catch the green payment logo on gray top, raise it, and turn it so the QR code faces you", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Locate the small black stand for payments, pick it up, and adjust its angle.", + "Catch the gray top with QR code, lift, and rotate to align the qrcode to you.", + "Grab the slanted gray panel for QR code scan, lift it from the table, and rotate it QR front", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Lift the slanted gray panel for QR code scan from the surface and adjust its angle towards you", + "Catch the payment sign with green logo using the left arm, pick it up, and turn it to face the QR code.", + "Catch the gray top with QR code, pick it up, and rotate to show the QR code.", + "Pick the tabletop-sized payment sign up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the payment sign with angled face and rotate QR code towards you.", + "Slide the gray top with QR code off the table and turn it to face you.", + "Lift the small black stand for payments and rotate for its qrcode to face you.", + "Use the left arm to grab the tabletop-sized payment sign and point its QR code toward you.", + "Catch the gray top with QR code off the table and rotate its qrcode to you.", + "Catch the payment sign with angled face, lift it, and rotate it QR code facing.", + "Using the left arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Use the left arm to pick the payment sign with angled face and turn it towards you.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Lift the small black stand for payments with the left arm, then rotate it to make the qrcode visible.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Take the small payment stand with black base, lift it, and orient it so the QR faces you", + "Use the left arm to lift the paymentsign and rotate it QR code toward you.", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Catch and lift the tabletop-sized payment sign, then turn it to show the QR code.", + "Pick up the green payment logo on gray top and rotate it so the QR code faces you", + "Catch the small black stand for payments with the left arm, then rotate it to make the QR code visible.", + "Take the gray slanted panel with text, raise it, and make the qrcode face you.", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Catch the gray slanted panel with text, pick it up, and rotate to view the qrcode.", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Use the left arm to grab the slanted gray panel for QR code scan, lift, and turn it QR code forward", + "Use the left arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Use the left arm to lift the paymentsign from the table and face the qrcode.", + "Lift the gray slanted panel with text from the table, turning it QR code forward.", + "Use the left arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Grab the triangular stand with QR code with the left arm, then rotate it to face yourself.", + "Lift the tabletop-sized payment sign from the table and rotate it so the code faces you.", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Lift the small payment stand with black base and rotate until its qrcode faces you.", + "Lift the triangular stand with QR code and orient its QR code toward you with the left arm.", + "Pick the triangular stand with QR code up, then rotate to make its qrcode visible.", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Find the green payment logo on gray top, grab it, and turn it towards yourself.", + "Pick the payment sign with angled face up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Grab the triangular stand with QR code using the left arm, then rotate the QR code to face forward.", + "Catch the payment sign with angled face, lift it, and adjust its QR code to face you.", + "Locate the gray top with QR code, pick it up, and adjust its angle.", + "Catch the tabletop-sized payment sign, lift, and rotate to align the qrcode to you.", + "Grab the small payment stand with black base, lift it from the table, and rotate it QR front", + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Lift the slanted gray panel for QR code scan from the surface and adjust its angle towards you", + "Catch the gray slanted panel with text using the left arm, pick it up, and turn it to face the QR code.", + "Catch the small payment stand with black base, pick it up, and rotate to show the QR code.", + "Pick the green payment logo on gray top up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the paymentsign and rotate QR code towards you.", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Lift the slanted gray panel for QR code scan and rotate for its qrcode to face you.", + "Use the left arm to grab the black base with tilted gray panel and point its QR code toward you.", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.", + "Using the left arm, catch the green payment logo on gray top and rotate it to face the QR code.", + "Use the left arm to pick the small payment stand with black base and turn it towards you.", + "Grab the gray top with QR code using the left arm, then rotate it until the qrcode faces you.", + "Lift the small payment stand with black base with the left arm, then rotate it to make the qrcode visible.", + "Catch the gray slanted panel with text, lift it, and turn the qrcode towards you.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you" + ], + "unseen": [ + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode25.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..709295cc620cacf926844f01fc396d36c462310a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.", + "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.", + "Employ the left arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to grab the stand-up paymentsign with rectangular top and rotate it until the QR faces forward", + "Use the left arm to grab the small paymentsign for mobile payments, lift, and turn it QR code forward", + "Use the left arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Lift the paymentsign with tilted rectangular panel from the table and turn it to face you.", + "Take the small paymentsign for mobile payments, raise it, and make the qrcode face you.", + "Use the left arm to lift the beige paymentsign with printed details from the table and face the qrcode.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to show the QR code.", + "Pick the paymentsign with tilted rectangular panel up, rotate it, and ensure the QR code faces you.", + "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you", + "Lift the paymentsign with tilted rectangular panel from the surface and adjust its angle towards you", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Use the left arm to grab the smooth beige paymentsign and point its QR code toward you.", + "Lift the beige paymentsign with printed details and rotate for its qrcode to face you.", + "Use the left arm to pick the compact paymentsign for scanning payments and turn it towards you.", + "Grab the paymentsign resting on angled base using the left arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign resting on angled base from the table, turning it QR code forward.", + "Catch the smooth beige paymentsign off the table and rotate its qrcode to you.", + "Catch the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the QR code visible.", + "Catch the paymentsign showing QR code label using the left arm, pick it up, and turn it to face the QR code.", + "Take the beige paymentsign, lift it, and orient it so the QR faces you", + "Lift the smooth beige paymentsign from the table and rotate it so the code faces you.", + "Use the left arm to grab the paymentsign resting on angled base and rotate QR code towards you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Use the left arm to take the small paymentsign for mobile payments and turn it until the QR code faces you", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Use the left arm to lift the QR code paymentsign and rotate it QR code toward you.", + "Pick the smooth beige paymentsign up and turn its QR code toward you using the left arm.", + "Grab the small paymentsign for mobile payments using the left arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign resting on angled base with the left arm, then rotate it to make the qrcode visible.", + "Find the beige paymentsign, grab it, and turn it towards yourself.", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Grab the rectangular paymentsign with colorful top with the left arm, then rotate it to face yourself.", + "Locate the paymentsign with tilted rectangular panel, pick it up, and adjust its angle.", + "Grab the QR code paymentsign using the left arm, then rotate the QR code to face forward.", + "Catch the paymentsign with tilted rectangular panel, lift, and rotate to align the qrcode to you.", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Grab the paymentsign resting on angled base, lift it from the table, and rotate it QR front", + "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the left arm.", + "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.", + "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Catch the smooth beige paymentsign, pick it up, and rotate to view the qrcode.", + "Using the left arm, catch the beige paymentsign and rotate it to face the QR code.", + "Use the left arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Pick the paymentsign with blue and white text up, then rotate to make its qrcode visible.", + "Catch and lift the paymentsign resting on angled base, then turn it to show the QR code.", + "Catch the paymentsign showing QR code label, lift it, and adjust its QR code to face you.", + "Employ the left arm to seize the rectangular paymentsign with colorful top, raise it, and rotate it QR-forward", + "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward", + "Use the left arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward", + "Use the left arm to grab the paymentsign showing QR code label, rotate, and face the QR code towards you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and rotate it QR code facing.", + "Lift the QR code paymentsign from the table and turn it to face you.", + "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.", + "Use the left arm to lift the rectangular paymentsign with colorful top from the table and face the qrcode.", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Pick the paymentsign with tilted rectangular panel up, rotate it, and ensure the QR code faces you.", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Lift the paymentsign showing QR code label from the surface and adjust its angle towards you", + "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and point its QR code toward you.", + "Lift the rectangular paymentsign with colorful top and rotate for its qrcode to face you.", + "Use the left arm to pick the small paymentsign for mobile payments and turn it towards you.", + "Grab the smooth beige paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.", + "Catch the small paymentsign for mobile payments off the table and rotate its qrcode to you.", + "Catch the paymentsign resting on angled base with the left arm, then rotate it to make the QR code visible.", + "Catch the QR code paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Take the paymentsign with blue and white text, lift it, and orient it so the QR faces you", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate QR code towards you.", + "Pick up the rectangular paymentsign with colorful top and rotate it so the QR code faces you", + "Catch the paymentsign showing QR code label, lift it, and turn the qrcode towards you.", + "Use the left arm to take the QR code paymentsign and turn it until the QR code faces you", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Use the left arm to lift the beige paymentsign and rotate it QR code toward you.", + "Pick the paymentsign showing QR code label up and turn its QR code toward you using the left arm.", + "Grab the QR code paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign with tilted rectangular panel with the left arm, then rotate it to make the qrcode visible.", + "Find the smooth beige paymentsign, grab it, and turn it towards yourself.", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Grab the paymentsign with blue and white text with the left arm, then rotate it to face yourself.", + "Locate the paymentsign showing QR code label, pick it up, and adjust its angle.", + "Grab the rectangular paymentsign with colorful top using the left arm, then rotate the QR code to face forward.", + "Catch the stand-up paymentsign with rectangular top, lift, and rotate to align the qrcode to you.", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Grab the smooth beige paymentsign, lift it from the table, and rotate it QR front", + "Lift the small paymentsign for mobile payments and orient its QR code toward you with the left arm.", + "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.", + "Grab the paymentsign showing QR code label, pick it up, and turn its qrcode toward you.", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Using the left arm, catch the paymentsign with blue and white text and rotate it to face the QR code.", + "Use the left arm to grab the compact paymentsign for scanning payments and rotate the qrcode to face you.", + "Pick the paymentsign with blue and white text up, then rotate to make its qrcode visible." + ], + "unseen": [ + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode26.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..1466269f9524d2f8f5f3365b21f19890c72df3a3 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the gray slanted panel with text, raise it, and make the qrcode face you.", + "Lift the gray slanted panel with text and rotate until its qrcode faces you.", + "Grab the green payment logo on gray top using the left arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign and orient its QR code toward you with the left arm.", + "Lift the black base with tilted gray panel and rotate it until the QR code faces you.", + "Use the left arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Locate the small payment stand with black base, pick it up, and adjust its angle.", + "Take the small payment stand with black base from the table, rotating it QR code toward you.", + "Pick the slanted gray panel for QR code scan up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Use the left arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Use the left arm to pick the payment sign with green logo and turn it towards you.", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Take the green payment logo on gray top, lift it, and orient it so the QR faces you", + "Grab the gray top with QR code with the left arm, then rotate it to face yourself.", + "Grab the black base with tilted gray panel using the left arm, then rotate the QR code to face forward.", + "Find the gray slanted panel with text, grab it, and turn it towards yourself.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate it until the QR faces forward", + "Use the left arm to grab the slanted gray panel for QR code scan and point its QR code toward you.", + "Lift the payment sign with angled face from the table and rotate it towards you", + "Catch and lift the green payment logo on gray top, then turn it to show the QR code.", + "Lift the payment sign with green logo with the left arm, then rotate it to make the qrcode visible.", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Lift the small payment stand with black base from the table and turn it to face you.", + "Catch the slanted gray panel for QR code scan, lift, and rotate to align the qrcode to you.", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Pick the payment sign with green logo up and turn its QR code toward you using the left arm.", + "Catch the black base with tilted gray panel off the table and rotate its qrcode to you.", + "Use the left arm to grab the payment sign with green logo and rotate the qrcode to face you.", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Using the left arm, catch the slanted gray panel for QR code scan and rotate it to face the QR code.", + "Use the left arm to lift the black base with tilted gray panel from the table and face the qrcode.", + "Grab the gray slanted panel with text using the left arm, then rotate it until the qrcode faces you.", + "Catch the payment sign with green logo with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the gray top with QR code and rotate QR code towards you.", + "Pick the green payment logo on gray top up, then rotate to make its qrcode visible.", + "Employ the left arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Use the left arm to grab the small payment stand with black base, lift, and turn it QR code forward", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Catch the paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the gray top with QR code, pick it up, and turn its qrcode toward you.", + "Catch the payment sign with green logo, lift it, and rotate it QR code facing.", + "Lift the payment sign with green logo from the surface and adjust its angle towards you", + "Catch the green payment logo on gray top, raise it, and turn it so the QR code faces you", + "Use the left arm to take the small payment stand with black base and turn it until the QR code faces you", + "Catch the green payment logo on gray top using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the green payment logo on gray top and adjust its position to face the qrcode towards you.", + "Lift the small payment stand with black base from the table and rotate it so the code faces you.", + "Take the tabletop-sized payment sign, raise it, and make the qrcode face you.", + "Lift the black base with tilted gray panel and rotate until its qrcode faces you.", + "Grab the triangular stand with QR code using the left arm, lift, and rotate until QR code faces you.", + "Lift the payment sign with angled face and orient its QR code toward you with the left arm.", + "Lift the payment sign with angled face and rotate it until the QR code faces you.", + "Use the left arm to lift the payment sign with green logo and rotate it QR code toward you.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Take the gray top with QR code from the table, rotating it QR code toward you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the small payment stand with black base from the table, turning it QR code forward.", + "Use the left arm to grab the triangular stand with QR code, rotate, and face the QR code towards you.", + "Use the left arm to pick the small black stand for payments and turn it towards you.", + "Catch the gray slanted panel with text, lift it, and adjust its QR code to face you.", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Grab the small black stand for payments with the left arm, then rotate it to face yourself.", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Find the triangular stand with QR code, grab it, and turn it towards yourself.", + "Use the left arm to grab the black base with tilted gray panel and rotate it until the QR faces forward", + "Use the left arm to grab the tabletop-sized payment sign and point its QR code toward you.", + "Lift the green payment logo on gray top from the table and rotate it towards you", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Lift the payment sign with angled face with the left arm, then rotate it to make the qrcode visible.", + "Catch the payment sign with angled face, lift it, and turn the qrcode towards you.", + "Lift the payment sign with green logo from the table and turn it to face you.", + "Catch the black base with tilted gray panel, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign, pick it up, and rotate to show the QR code.", + "Pick up the small black stand for payments and rotate it so the QR code faces you", + "Pick the payment sign with green logo up and turn its QR code toward you using the left arm.", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to grab the gray slanted panel with text and rotate the qrcode to face you.", + "Slide the gray top with QR code off the table and turn it to face you.", + "Using the left arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Use the left arm to lift the payment sign with angled face from the table and face the qrcode.", + "Grab the triangular stand with QR code using the left arm, then rotate it until the qrcode faces you.", + "Catch the green payment logo on gray top with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the tabletop-sized payment sign and rotate QR code towards you.", + "Pick the paymentsign up, then rotate to make its qrcode visible.", + "Employ the left arm to seize the triangular stand with QR code, raise it, and rotate it QR-forward", + "Lift the small black stand for payments and rotate for its qrcode to face you.", + "Use the left arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to view the qrcode.", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Lift the gray top with QR code from the surface and adjust its angle towards you", + "Catch the gray top with QR code, raise it, and turn it so the QR code faces you", + "Use the left arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Catch the slanted gray panel for QR code scan using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you." + ], + "unseen": [ + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode27.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..02d183000852a0bde9cee0986b65dc65242c9c4b --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Locate the tabletop-sized payment sign, pick it up, and adjust its angle.", + "Catch the triangular stand with QR code with the left arm, then rotate it to make the QR code visible.", + "Catch the payment sign with angled face, lift it, and turn the qrcode towards you.", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Take the triangular stand with QR code from the table, rotating it QR code toward you.", + "Lift the gray slanted panel with text and rotate it until the QR code faces you.", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Use the left arm to grab the payment sign with angled face and rotate QR code towards you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to take the black base with tilted gray panel and turn it until the QR code faces you", + "Lift the paymentsign from the table and rotate it towards you", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the small black stand for payments, lift, and turn it QR code forward", + "Catch the green payment logo on gray top, raise it, and turn it so the QR code faces you", + "Catch the payment sign with angled face, lift it, and adjust its QR code to face you.", + "Pick up the gray top with QR code and adjust its position to face the qrcode towards you.", + "Grab the black base with tilted gray panel using the left arm, then rotate it until the qrcode faces you.", + "Catch and lift the tabletop-sized payment sign, then turn it to show the QR code.", + "Grab the small payment stand with black base using the left arm, then rotate the QR code to face forward.", + "Use the left arm to pick the small black stand for payments and turn it towards you.", + "Use the left arm to grab the black base with tilted gray panel and rotate it until the QR faces forward", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Lift the green payment logo on gray top from the surface and adjust its angle towards you", + "Catch the payment sign with green logo off the table and rotate its qrcode to you.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Grab the triangular stand with QR code using the left arm, lift, and rotate until QR code faces you.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the gray top with QR code, raise it, and rotate it QR-forward", + "Grab the small black stand for payments, lift it from the table, and rotate it QR front", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to view the qrcode.", + "Catch the small payment stand with black base, lift, and rotate to align the qrcode to you.", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Using the left arm, catch the small black stand for payments and rotate it to face the QR code.", + "Lift the gray top with QR code and orient its QR code toward you with the left arm.", + "Catch the payment sign with green logo using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Use the left arm to lift the payment sign with green logo and rotate it QR code toward you.", + "Use the left arm to lift the payment sign with green logo from the table and face the qrcode.", + "Pick the black base with tilted gray panel up and turn its QR code toward you using the left arm.", + "Slide the small black stand for payments off the table and turn it to face you.", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Lift the green payment logo on gray top and rotate until its qrcode faces you.", + "Use the left arm to grab the payment sign with angled face and point its QR code toward you.", + "Lift the slanted gray panel for QR code scan from the table, turning it QR code forward.", + "Use the left arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Lift the small payment stand with black base and rotate for its qrcode to face you.", + "Use the left arm to grab the small payment stand with black base, rotate, and face the QR code towards you.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Lift the small payment stand with black base from the table and rotate it so the code faces you.", + "Locate the payment sign with green logo, pick it up, and adjust its angle.", + "Catch the payment sign with green logo with the left arm, then rotate it to make the QR code visible.", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Lift the payment sign with green logo and rotate it until the QR code faces you.", + "Grab the tabletop-sized payment sign with the left arm, then rotate it to face yourself.", + "Use the left arm to grab the payment sign with green logo and rotate QR code towards you.", + "Pick the triangular stand with QR code up, rotate it, and ensure the QR code faces you.", + "Use the left arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Lift the small black stand for payments from the table and rotate it towards you", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the gray slanted panel with text, lift, and turn it QR code forward", + "Catch the small black stand for payments, raise it, and turn it so the QR code faces you", + "Catch the payment sign with angled face, lift it, and adjust its QR code to face you.", + "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.", + "Grab the small black stand for payments using the left arm, then rotate it until the qrcode faces you.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Use the left arm to pick the paymentsign and turn it towards you.", + "Use the left arm to grab the gray top with QR code and rotate it until the QR faces forward", + "Lift the small black stand for payments with the left arm, then rotate it to make the qrcode visible.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Catch the gray slanted panel with text off the table and rotate its qrcode to you.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Find the tabletop-sized payment sign, grab it, and turn it towards yourself.", + "Grab the small black stand for payments using the left arm, lift, and rotate until QR code faces you.", + "Catch the gray slanted panel with text, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the slanted gray panel for QR code scan, raise it, and rotate it QR-forward", + "Grab the black base with tilted gray panel, lift it from the table, and rotate it QR front", + "Catch the payment sign with green logo, pick it up, and rotate to view the qrcode.", + "Catch the tabletop-sized payment sign, lift, and rotate to align the qrcode to you.", + "Pick the payment sign with angled face up, then rotate to make its qrcode visible.", + "Using the left arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Lift the paymentsign and orient its QR code toward you with the left arm.", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the triangular stand with QR code and rotate it so the QR code faces you", + "Use the left arm to lift the black base with tilted gray panel and rotate it QR code toward you.", + "Use the left arm to lift the triangular stand with QR code from the table and face the qrcode.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Slide the slanted gray panel for QR code scan off the table and turn it to face you.", + "Lift the black base with tilted gray panel from the table and turn it to face you.", + "Lift the black base with tilted gray panel and rotate until its qrcode faces you.", + "Use the left arm to grab the tabletop-sized payment sign and point its QR code toward you.", + "Lift the green payment logo on gray top from the table, turning it QR code forward.", + "Use the left arm to grab the gray top with QR code and rotate the qrcode to face you.", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Use the left arm to grab the slanted gray panel for QR code scan, rotate, and face the QR code towards you.", + "Take the paymentsign, lift it, and orient it so the QR faces you", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you." + ], + "unseen": [ + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode28.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..fca4e473932c2042aff695b3393e78d495f7c445 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the small paymentsign for mobile payments and point its QR code toward you.", + "Grab the small paymentsign for mobile payments using the right arm, lift, and rotate until QR code faces you.", + "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.", + "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.", + "Use the right arm to lift the rectangular paymentsign with colorful top from the table and face the qrcode.", + "Pick the small paymentsign for mobile payments up, then rotate to make its qrcode visible.", + "Use the right arm to pick the paymentsign resting on angled base and turn it towards you.", + "Pick up the beige paymentsign with printed details and adjust its position to face the qrcode towards you.", + "Locate the compact paymentsign for scanning payments, pick it up, and adjust its angle.", + "Lift the paymentsign resting on angled base and rotate it until the QR code faces you.", + "Employ the right arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.", + "Lift the stand-up paymentsign with rectangular top from the table, turning it QR code forward.", + "Pick the stand-up paymentsign with rectangular top up, rotate it, and ensure the QR code faces you.", + "Lift the QR code paymentsign from the table and turn it to face you.", + "Grab the smooth beige paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the small paymentsign for mobile payments from the table and rotate it so the code faces you.", + "Use the right arm to grab the paymentsign showing QR code label, lift, and turn it QR code forward", + "Find the stand-up paymentsign with rectangular top, grab it, and turn it towards yourself.", + "Lift the stand-up paymentsign with rectangular top and rotate for its qrcode to face you.", + "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you", + "Grab the paymentsign showing QR code label, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign with tilted rectangular panel using the right arm, pick it up, and turn it to face the QR code.", + "Grab the stand-up paymentsign with rectangular top with the right arm, then rotate it to face yourself.", + "Catch the beige paymentsign with printed details, lift it, and turn the qrcode towards you.", + "Lift the smooth beige paymentsign from the table and rotate it towards you", + "Use the right arm to grab the small paymentsign for mobile payments and rotate QR code towards you.", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign showing QR code label from the surface and adjust its angle towards you", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate the qrcode to face you.", + "Catch the paymentsign resting on angled base, lift it, and rotate it QR code facing.", + "Slide the compact paymentsign for scanning payments off the table and turn it to face you.", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Take the QR code paymentsign, raise it, and make the qrcode face you.", + "Using the right arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Pick the beige paymentsign with printed details up and turn its QR code toward you using the right arm.", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Use the right arm to lift the paymentsign with tilted rectangular panel and rotate it QR code toward you.", + "Use the right arm to take the paymentsign with tilted rectangular panel and turn it until the QR code faces you", + "Lift the QR code paymentsign and rotate until its qrcode faces you.", + "Lift the QR code paymentsign and orient its QR code toward you with the right arm.", + "Catch the beige paymentsign, pick it up, and rotate to view the qrcode.", + "Catch the QR code paymentsign with the right arm, then rotate it to make the QR code visible.", + "Lift the QR code paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign with tilted rectangular panel, rotate, and face the QR code towards you.", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Grab the beige paymentsign with printed details using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.", + "Grab the smooth beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Catch the rectangular paymentsign with colorful top, lift, and rotate to align the qrcode to you.", + "Catch and lift the compact paymentsign for scanning payments, then turn it to show the QR code.", + "Use the right arm to lift the beige paymentsign from the table and face the qrcode.", + "Pick the stand-up paymentsign with rectangular top up, then rotate to make its qrcode visible.", + "Use the right arm to pick the beige paymentsign and turn it towards you.", + "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.", + "Locate the beige paymentsign, pick it up, and adjust its angle.", + "Lift the smooth beige paymentsign and rotate it until the QR code faces you.", + "Employ the right arm to seize the stand-up paymentsign with rectangular top, raise it, and rotate it QR-forward", + "Grab the smooth beige paymentsign, lift it from the table, and rotate it QR front", + "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.", + "Lift the paymentsign resting on angled base from the table, turning it QR code forward.", + "Pick the stand-up paymentsign with rectangular top up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign with blue and white text from the table and turn it to face you.", + "Grab the paymentsign with blue and white text using the right arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.", + "Use the right arm to grab the small paymentsign for mobile payments, lift, and turn it QR code forward", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Lift the beige paymentsign and rotate for its qrcode to face you.", + "Take the beige paymentsign, lift it, and orient it so the QR faces you", + "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.", + "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.", + "Grab the paymentsign with blue and white text with the right arm, then rotate it to face yourself.", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Lift the beige paymentsign with printed details from the table and rotate it towards you", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate QR code towards you.", + "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate the qrcode to face you.", + "Catch the beige paymentsign, lift it, and rotate it QR code facing.", + "Slide the small paymentsign for mobile payments off the table and turn it to face you.", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Take the beige paymentsign with printed details, raise it, and make the qrcode face you.", + "Using the right arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Pick the smooth beige paymentsign up and turn its QR code toward you using the right arm.", + "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you", + "Catch the paymentsign resting on angled base, raise it, and turn it so the QR code faces you", + "Use the right arm to lift the paymentsign with tilted rectangular panel and rotate it QR code toward you.", + "Use the right arm to take the small paymentsign for mobile payments and turn it until the QR code faces you", + "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.", + "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the right arm.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.", + "Catch the rectangular paymentsign with colorful top with the right arm, then rotate it to make the QR code visible.", + "Lift the small paymentsign for mobile payments with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign resting on angled base, rotate, and face the QR code towards you.", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Grab the paymentsign with blue and white text using the right arm, then rotate the QR code to face forward." + ], + "unseen": [ + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode29.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..73c7ad33098b95f5d6aa0530af42e445ae905789 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Lift the triangular stand with QR code from the table and turn it to face you.", + "Lift the triangular stand with QR code from the surface and adjust its angle towards you", + "Catch the gray slanted panel with text, lift it, and turn the qrcode towards you.", + "Pick the payment sign with angled face up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the payment sign with green logo and point its QR code toward you.", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Grab the payment sign with angled face using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to take the gray slanted panel with text and turn it until the QR code faces you", + "Take the gray slanted panel with text, lift it, and orient it so the QR faces you", + "Lift the gray slanted panel with text and rotate for its qrcode to face you.", + "Lift the black base with tilted gray panel and orient its QR code toward you with the right arm.", + "Lift the small payment stand with black base and rotate it until the QR code faces you.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Grab the small black stand for payments using the right arm, then rotate the QR code to face forward.", + "Catch the tabletop-sized payment sign with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to pick the gray top with QR code and turn it towards you.", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you", + "Take the small payment stand with black base from the table, rotating it QR code toward you.", + "Take the black base with tilted gray panel, raise it, and make the qrcode face you.", + "Use the right arm to grab the small black stand for payments, lift, and turn it QR code forward", + "Use the right arm to grab the triangular stand with QR code and rotate it until the QR faces forward", + "Lift the paymentsign from the table and rotate it towards you", + "Using the right arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Catch the slanted gray panel for QR code scan using the right arm, pick it up, and turn it to face the QR code.", + "Employ the right arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Find the small black stand for payments, grab it, and turn it towards yourself.", + "Grab the gray top with QR code with the right arm, then rotate it to face yourself.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the right arm.", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Pick up the small payment stand with black base and rotate it so the QR code faces you", + "Grab the gray top with QR code, pick it up, and turn its qrcode toward you.", + "Pick up the black base with tilted gray panel and adjust its position to face the qrcode towards you.", + "Grab the payment sign with angled face using the right arm, then rotate it until the qrcode faces you.", + "Lift the small black stand for payments from the table, turning it QR code forward.", + "Use the right arm to lift the black base with tilted gray panel and rotate it QR code toward you.", + "Use the right arm to grab the black base with tilted gray panel and rotate the qrcode to face you.", + "Use the right arm to lift the slanted gray panel for QR code scan from the table and face the qrcode.", + "Lift the green payment logo on gray top with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the payment sign with angled face and rotate QR code towards you.", + "Catch the payment sign with green logo, lift, and rotate to align the qrcode to you.", + "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.", + "Grab the slanted gray panel for QR code scan, lift it from the table, and rotate it QR front", + "Catch the gray slanted panel with text, lift it, and adjust its QR code to face you.", + "Pick the gray slanted panel with text up, then rotate to make its qrcode visible.", + "Use the right arm to grab the payment sign with angled face, rotate, and face the QR code towards you.", + "Catch the gray top with QR code off the table and rotate its qrcode to you.", + "Lift the small payment stand with black base from the table and turn it to face you.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Catch the tabletop-sized payment sign, lift it, and turn the qrcode towards you.", + "Pick the gray slanted panel with text up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the small black stand for payments and point its QR code toward you.", + "Lift the tabletop-sized payment sign and rotate until its qrcode faces you.", + "Grab the payment sign with angled face using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Take the small payment stand with black base, lift it, and orient it so the QR faces you", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Lift the slanted gray panel for QR code scan and orient its QR code toward you with the right arm.", + "Lift the paymentsign and rotate it until the QR code faces you.", + "Locate the gray top with QR code, pick it up, and adjust its angle.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Grab the paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the small black stand for payments with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to pick the paymentsign and turn it towards you.", + "Catch the gray slanted panel with text, pick it up, and rotate to view the qrcode.", + "Catch the slanted gray panel for QR code scan, raise it, and turn it so the QR code faces you", + "Take the small payment stand with black base from the table, rotating it QR code toward you.", + "Take the payment sign with angled face, raise it, and make the qrcode face you.", + "Use the right arm to grab the black base with tilted gray panel, lift, and turn it QR code forward", + "Use the right arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Using the right arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Catch the small payment stand with black base using the right arm, pick it up, and turn it to face the QR code.", + "Employ the right arm to seize the small black stand for payments, raise it, and rotate it QR-forward", + "Find the small black stand for payments, grab it, and turn it towards yourself.", + "Grab the small black stand for payments with the right arm, then rotate it to face yourself.", + "Pick the green payment logo on gray top up and turn its QR code toward you using the right arm.", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Catch and lift the payment sign with green logo, then turn it to show the QR code.", + "Pick up the black base with tilted gray panel and rotate it so the QR code faces you", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Grab the small black stand for payments using the right arm, then rotate it until the qrcode faces you.", + "Lift the tabletop-sized payment sign from the table, turning it QR code forward.", + "Use the right arm to lift the payment sign with green logo and rotate it QR code toward you.", + "Use the right arm to grab the paymentsign and rotate the qrcode to face you.", + "Use the right arm to lift the paymentsign from the table and face the qrcode.", + "Lift the small black stand for payments with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the triangular stand with QR code and rotate QR code towards you.", + "Catch the tabletop-sized payment sign, lift, and rotate to align the qrcode to you.", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Grab the green payment logo on gray top, lift it from the table, and rotate it QR front", + "Catch the small black stand for payments, lift it, and adjust its QR code to face you.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Use the right arm to grab the green payment logo on gray top, rotate, and face the QR code towards you." + ], + "unseen": [ + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode3.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..83adb21e091383336a213140cd88c68474d9a677 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the stand-up paymentsign with rectangular top, lift it, and turn the qrcode towards you.", + "Pick up the smooth beige paymentsign and adjust its position to face the qrcode towards you.", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.", + "Pick the paymentsign with tilted rectangular panel up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the stand-up paymentsign with rectangular top, rotate, and face the QR code towards you.", + "Lift the rectangular paymentsign with colorful top with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the beige paymentsign with printed details and rotate QR code towards you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Use the right arm to take the compact paymentsign for scanning payments and turn it until the QR code faces you", + "Use the right arm to grab the paymentsign showing QR code label, lift, and turn it QR code forward", + "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you", + "Grab the paymentsign resting on angled base with the right arm, then rotate it to face yourself.", + "Lift the paymentsign with blue and white text and orient its QR code toward you with the right arm.", + "Use the right arm to grab the smooth beige paymentsign and point its QR code toward you.", + "Pick up the paymentsign showing QR code label and rotate it so the QR code faces you", + "Catch the paymentsign resting on angled base using the right arm, pick it up, and turn it to face the QR code.", + "Take the paymentsign showing QR code label from the table, rotating it QR code toward you.", + "Locate the compact paymentsign for scanning payments, pick it up, and adjust its angle.", + "Catch the paymentsign with tilted rectangular panel, raise it, and turn it so the QR code faces you", + "Catch the rectangular paymentsign with colorful top off the table and rotate its qrcode to you.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Lift the compact paymentsign for scanning payments from the table and turn it to face you.", + "Use the right arm to grab the beige paymentsign with printed details and rotate it until the QR faces forward", + "Lift the smooth beige paymentsign from the table, turning it QR code forward.", + "Use the right arm to lift the beige paymentsign with printed details and rotate it QR code toward you.", + "Grab the smooth beige paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the beige paymentsign from the table and face the qrcode.", + "Grab the stand-up paymentsign with rectangular top using the right arm, then rotate the QR code to face forward.", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Find the stand-up paymentsign with rectangular top, grab it, and turn it towards yourself.", + "Catch the compact paymentsign for scanning payments, lift it, and adjust its QR code to face you.", + "Grab the smooth beige paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the stand-up paymentsign with rectangular top and rotate for its qrcode to face you.", + "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.", + "Catch the rectangular paymentsign with colorful top with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to pick the QR code paymentsign and turn it towards you.", + "Lift the paymentsign with blue and white text and rotate until its qrcode faces you.", + "Lift the QR code paymentsign from the table and rotate it towards you", + "Pick the paymentsign resting on angled base up and turn its QR code toward you using the right arm.", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate the qrcode to face you.", + "Employ the right arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Take the beige paymentsign with printed details, raise it, and make the qrcode face you.", + "Catch the beige paymentsign with printed details, lift it, and rotate it QR code facing.", + "Catch the stand-up paymentsign with rectangular top, pick it up, and rotate to view the qrcode.", + "Catch and lift the paymentsign resting on angled base, then turn it to show the QR code.", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Using the right arm, catch the beige paymentsign with printed details and rotate it to face the QR code.", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Pick up the paymentsign with tilted rectangular panel and adjust its position to face the qrcode towards you.", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Lift the QR code paymentsign from the table and rotate it so the code faces you.", + "Pick the beige paymentsign with printed details up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the QR code paymentsign, rotate, and face the QR code towards you.", + "Lift the smooth beige paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign resting on angled base and rotate QR code towards you.", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Use the right arm to take the QR code paymentsign and turn it until the QR code faces you", + "Use the right arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Take the stand-up paymentsign with rectangular top, lift it, and orient it so the QR faces you", + "Grab the beige paymentsign with printed details with the right arm, then rotate it to face yourself.", + "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the right arm.", + "Use the right arm to grab the beige paymentsign with printed details and point its QR code toward you.", + "Pick up the paymentsign with tilted rectangular panel and rotate it so the QR code faces you", + "Catch the smooth beige paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.", + "Locate the beige paymentsign with printed details, pick it up, and adjust its angle.", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Catch the rectangular paymentsign with colorful top off the table and rotate its qrcode to you.", + "Pick the compact paymentsign for scanning payments up, then rotate to make its qrcode visible.", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Lift the beige paymentsign from the table and turn it to face you.", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate it until the QR faces forward", + "Lift the QR code paymentsign from the table, turning it QR code forward.", + "Use the right arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Grab the beige paymentsign with printed details using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to lift the paymentsign with tilted rectangular panel from the table and face the qrcode.", + "Grab the paymentsign resting on angled base using the right arm, then rotate the QR code to face forward.", + "Grab the beige paymentsign with printed details, lift it from the table, and rotate it QR front", + "Find the QR code paymentsign, grab it, and turn it towards yourself.", + "Catch the beige paymentsign with printed details, lift it, and adjust its QR code to face you.", + "Grab the stand-up paymentsign with rectangular top using the right arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Catch the compact paymentsign for scanning payments, lift, and rotate to align the qrcode to you.", + "Catch the beige paymentsign with printed details with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to pick the rectangular paymentsign with colorful top and turn it towards you.", + "Lift the QR code paymentsign and rotate until its qrcode faces you.", + "Lift the smooth beige paymentsign from the table and rotate it towards you", + "Pick the paymentsign with tilted rectangular panel up and turn its QR code toward you using the right arm.", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate the qrcode to face you.", + "Employ the right arm to seize the beige paymentsign, raise it, and rotate it QR-forward", + "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.", + "Catch the compact paymentsign for scanning payments, lift it, and rotate it QR code facing.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.", + "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Using the right arm, catch the paymentsign showing QR code label and rotate it to face the QR code." + ], + "unseen": [ + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with QR code from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the tabletop paymentsign from the table and rotate it", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode30.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..313ea868a082c52533b704a2aa9e4fcac192c222 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the paymentsign with printed QR codes and rotate for its qrcode to face you.", + "Pick the smooth surface paymentsign up and turn its QR code toward you using the left arm.", + "Pick up the smooth surface paymentsign and adjust its position to face the qrcode towards you.", + "Lift the paymentsign for scanning QR codes and orient its QR code toward you with the left arm.", + "Use the left arm to grab the paymentsign for scanning QR codes and rotate QR code towards you.", + "Pick the rectangular plastic paymentsign with codes up, then rotate to make its qrcode visible.", + "Lift the small paymentsign with stand from the surface and adjust its angle towards you", + "Slide the paymentsign with glossy blue panel off the table and turn it to face you.", + "Grab the paymentsign with printed QR codes, lift it from the table, and rotate it QR front", + "Lift the rectangular plastic paymentsign with codes from the table, turning it QR code forward.", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it towards you", + "Catch the small paymentsign with stand, lift it, and adjust its QR code to face you.", + "Lift the paymentsign for scanning QR codes and rotate it until the QR code faces you.", + "Catch the smooth surface paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the blue and white paymentsign and rotate the qrcode to face you.", + "Employ the left arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to pick the smooth surface paymentsign and turn it towards you.", + "Catch the paymentsign with angled black stand using the left arm, pick it up, and turn it to face the QR code.", + "Grab the smooth surface paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the rectangular plastic paymentsign with codes and rotate it QR code toward you.", + "Catch the paymentsign with glossy blue panel with the left arm, then rotate it to make the QR code visible.", + "Catch the blue and white rectangular paymentsign, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the rectangular plastic paymentsign with codes, lift, and turn it QR code forward", + "Use the left arm to grab the small glossy paymentsign, rotate, and face the QR code towards you.", + "Lift the tabletop paymentsign from the table and rotate it so the code faces you.", + "Pick up the small paymentsign with stand and rotate it so the QR code faces you", + "Find the smooth surface paymentsign, grab it, and turn it towards yourself.", + "Catch the rectangular plastic paymentsign with codes off the table and rotate its qrcode to you.", + "Catch the smooth surface paymentsign, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the tabletop paymentsign from the table and face the qrcode.", + "Use the left arm to grab the paymentsign with printed QR codes and point its QR code toward you.", + "Use the left arm to take the paymentsign with glossy blue panel and turn it until the QR code faces you", + "Catch the paymentsign with glossy blue panel, raise it, and turn it so the QR code faces you", + "Lift the blue and white rectangular paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign with angled black stand, lift it, and rotate it QR code facing.", + "Locate the blue and white rectangular paymentsign, pick it up, and adjust its angle.", + "Grab the paymentsign for scanning QR codes using the left arm, then rotate the QR code to face forward.", + "Using the left arm, catch the blue and white rectangular paymentsign and rotate it to face the QR code.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Take the rectangular plastic paymentsign with codes, raise it, and make the qrcode face you.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign for scanning QR codes with the left arm, then rotate it to face yourself.", + "Grab the paymentsign with glossy blue panel, pick it up, and turn its qrcode toward you.", + "Pick the paymentsign for scanning QR codes up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign for scanning QR codes and rotate until its qrcode faces you.", + "Catch and lift the small paymentsign with stand, then turn it to show the QR code.", + "Use the left arm to grab the blue and white paymentsign and rotate it until the QR faces forward", + "Lift the paymentsign for scanning QR codes from the table and turn it to face you.", + "Grab the blue and white paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Take the small paymentsign with stand from the table, rotating it QR code toward you.", + "Lift the paymentsign with angled black stand and rotate for its qrcode to face you.", + "Pick the tabletop paymentsign up and turn its QR code toward you using the left arm.", + "Pick up the rectangular plastic paymentsign with codes and adjust its position to face the qrcode towards you.", + "Lift the rectangular plastic paymentsign with codes and orient its QR code toward you with the left arm.", + "Use the left arm to grab the rectangular plastic paymentsign and rotate QR code towards you.", + "Pick the blue and white paymentsign up, then rotate to make its qrcode visible.", + "Lift the tabletop paymentsign from the surface and adjust its angle towards you", + "Slide the small glossy paymentsign off the table and turn it to face you.", + "Grab the blue and white paymentsign, lift it from the table, and rotate it QR front", + "Lift the smooth surface paymentsign from the table, turning it QR code forward.", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it towards you", + "Catch the paymentsign with printed QR codes, lift it, and adjust its QR code to face you.", + "Lift the rectangular plastic paymentsign and rotate it until the QR code faces you.", + "Catch the rectangular plastic paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the rectangular plastic paymentsign and rotate the qrcode to face you.", + "Employ the left arm to seize the smooth surface paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to pick the small glossy paymentsign and turn it towards you.", + "Catch the tabletop paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Grab the rectangular plastic paymentsign with codes using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the rectangular plastic paymentsign and rotate it QR code toward you.", + "Catch the blue and white rectangular paymentsign with the left arm, then rotate it to make the QR code visible.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the blue and white paymentsign, lift, and turn it QR code forward", + "Use the left arm to grab the small paymentsign with stand, rotate, and face the QR code towards you.", + "Lift the paymentsign for scanning QR codes from the table and rotate it so the code faces you.", + "Pick up the tabletop paymentsign and rotate it so the QR code faces you", + "Find the tabletop paymentsign, grab it, and turn it towards yourself.", + "Catch the small glossy paymentsign off the table and rotate its qrcode to you.", + "Catch the paymentsign for scanning QR codes, lift it, and turn the qrcode towards you.", + "Use the left arm to lift the blue and white paymentsign from the table and face the qrcode.", + "Use the left arm to grab the small glossy paymentsign and point its QR code toward you.", + "Use the left arm to take the paymentsign with glossy blue panel and turn it until the QR code faces you", + "Catch the paymentsign for scanning QR codes, raise it, and turn it so the QR code faces you", + "Lift the smooth surface paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Catch the blue and white paymentsign, lift it, and rotate it QR code facing.", + "Locate the rectangular plastic paymentsign with codes, pick it up, and adjust its angle.", + "Grab the paymentsign for scanning QR codes using the left arm, then rotate the QR code to face forward.", + "Using the left arm, catch the tabletop paymentsign and rotate it to face the QR code.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Take the smooth surface paymentsign, raise it, and make the qrcode face you.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to view the qrcode.", + "Grab the blue and white rectangular paymentsign with the left arm, then rotate it to face yourself.", + "Grab the smooth surface paymentsign, pick it up, and turn its qrcode toward you.", + "Pick the paymentsign with printed QR codes up, rotate it, and ensure the QR code faces you.", + "Lift the blue and white paymentsign and rotate until its qrcode faces you.", + "Catch and lift the paymentsign with angled black stand, then turn it to show the QR code.", + "Use the left arm to grab the paymentsign with angled black stand and rotate it until the QR faces forward", + "Lift the smooth surface paymentsign from the table and turn it to face you.", + "Grab the paymentsign for scanning QR codes using the left arm, then rotate it until the qrcode faces you.", + "Take the blue and white rectangular paymentsign from the table, rotating it QR code toward you." + ], + "unseen": [ + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the QR code paymentsign from the table and rotate it", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode31.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..ce9333ee73280b24953448b78bbc95558bfde9f4 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the paymentsign and orient its QR code toward you with the left arm.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Pick the payment sign with angled face up, then rotate to make its qrcode visible.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Lift the small payment stand with black base and rotate for its qrcode to face you.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Lift the gray slanted panel with text and rotate until its qrcode faces you.", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Lift the payment sign with angled face with the left arm, then rotate it to make the qrcode visible.", + "Grab the tabletop-sized payment sign using the left arm, lift, and rotate until QR code faces you.", + "Slide the black base with tilted gray panel off the table and turn it to face you.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Lift the slanted gray panel for QR code scan from the table, turning it QR code forward.", + "Pick the small black stand for payments up and turn its QR code toward you using the left arm.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the small payment stand with black base and rotate QR code towards you.", + "Catch the slanted gray panel for QR code scan with the left arm, then rotate it to make the QR code visible.", + "Lift the small payment stand with black base and rotate it until the QR code faces you.", + "Use the left arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Catch the small black stand for payments using the left arm, pick it up, and turn it to face the QR code.", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Locate the tabletop-sized payment sign, pick it up, and adjust its angle.", + "Grab the black base with tilted gray panel using the left arm, then rotate the QR code to face forward.", + "Employ the left arm to seize the slanted gray panel for QR code scan, raise it, and rotate it QR-forward", + "Use the left arm to grab the payment sign with green logo, rotate, and face the QR code towards you.", + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Take the gray slanted panel with text, raise it, and make the qrcode face you.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Using the left arm, catch the green payment logo on gray top and rotate it to face the QR code.", + "Find the gray top with QR code, grab it, and turn it towards yourself.", + "Use the left arm to lift the tabletop-sized payment sign and rotate it QR code toward you.", + "Use the left arm to grab the slanted gray panel for QR code scan, lift, and turn it QR code forward", + "Use the left arm to pick the triangular stand with QR code and turn it towards you.", + "Use the left arm to grab the payment sign with angled face and point its QR code toward you.", + "Use the left arm to lift the green payment logo on gray top from the table and face the qrcode.", + "Catch the gray slanted panel with text, raise it, and turn it so the QR code faces you", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Pick up the slanted gray panel for QR code scan and rotate it so the QR code faces you", + "Grab the payment sign with green logo with the left arm, then rotate it to face yourself.", + "Lift the payment sign with green logo and orient its QR code toward you with the left arm.", + "Grab the payment sign with angled face using the left arm, then rotate it until the qrcode faces you.", + "Catch the gray slanted panel with text, lift, and rotate to align the qrcode to you.", + "Pick the gray slanted panel with text up, then rotate to make its qrcode visible.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Catch and lift the small payment stand with black base, then turn it to show the QR code.", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Catch the black base with tilted gray panel, lift it, and rotate it QR code facing.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Lift the green payment logo on gray top with the left arm, then rotate it to make the qrcode visible.", + "Grab the gray slanted panel with text using the left arm, lift, and rotate until QR code faces you.", + "Slide the paymentsign off the table and turn it to face you.", + "Catch the payment sign with green logo, pick it up, and rotate to show the QR code.", + "Lift the small payment stand with black base from the table, turning it QR code forward.", + "Pick the green payment logo on gray top up and turn its QR code toward you using the left arm.", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the gray slanted panel with text and rotate QR code towards you.", + "Catch the tabletop-sized payment sign with the left arm, then rotate it to make the QR code visible.", + "Lift the small black stand for payments and rotate it until the QR code faces you.", + "Use the left arm to take the tabletop-sized payment sign and turn it until the QR code faces you", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the gray slanted panel with text and rotate it until the QR faces forward", + "Catch the tabletop-sized payment sign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the small black stand for payments, lift it, and adjust its QR code to face you.", + "Catch the gray slanted panel with text off the table and rotate its qrcode to you.", + "Take the gray slanted panel with text, lift it, and orient it so the QR faces you", + "Locate the small payment stand with black base, pick it up, and adjust its angle.", + "Grab the payment sign with angled face using the left arm, then rotate the QR code to face forward.", + "Employ the left arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to grab the small black stand for payments, rotate, and face the QR code towards you.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Take the small black stand for payments, raise it, and make the qrcode face you.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Pick the payment sign with green logo up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the black base with tilted gray panel and rotate the qrcode to face you.", + "Lift the green payment logo on gray top from the table and turn it to face you.", + "Using the left arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Find the gray top with QR code, grab it, and turn it towards yourself.", + "Use the left arm to lift the small black stand for payments and rotate it QR code toward you.", + "Use the left arm to grab the black base with tilted gray panel, lift, and turn it QR code forward", + "Use the left arm to pick the small black stand for payments and turn it towards you.", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Use the left arm to lift the small black stand for payments from the table and face the qrcode.", + "Catch the gray slanted panel with text, raise it, and turn it so the QR code faces you", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself." + ], + "unseen": [ + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode32.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..d3854070f277842f73fa412dadaa91bfeb4ee4ff --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the tabletop-sized payment sign, rotate, and face the QR code towards you.", + "Take the small payment stand with black base from the table, rotating it QR code toward you.", + "Catch the green payment logo on gray top with the left arm, then rotate it to make the QR code visible.", + "Lift the payment sign with angled face from the surface and adjust its angle towards you", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Pick the triangular stand with QR code up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the payment sign with angled face and rotate it until the QR faces forward", + "Lift the green payment logo on gray top with the left arm, then rotate it to make the qrcode visible.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Use the left arm to grab the payment sign with green logo and rotate QR code towards you.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Lift the payment sign with angled face and rotate it until the QR code faces you.", + "Use the left arm to lift the payment sign with green logo from the table and face the qrcode.", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Catch the payment sign with angled face using the left arm, pick it up, and turn it to face the QR code.", + "Grab the gray slanted panel with text using the left arm, then rotate the QR code to face forward.", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Find the triangular stand with QR code, grab it, and turn it towards yourself.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Use the left arm to grab the payment sign with angled face and rotate the qrcode to face you.", + "Grab the payment sign with angled face using the left arm, then rotate it until the qrcode faces you.", + "Lift the small payment stand with black base from the table and turn it to face you.", + "Catch and lift the triangular stand with QR code, then turn it to show the QR code.", + "Locate the payment sign with angled face, pick it up, and adjust its angle.", + "Catch the green payment logo on gray top, raise it, and turn it so the QR code faces you", + "Use the left arm to pick the small black stand for payments and turn it towards you.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Lift the payment sign with angled face from the table, turning it QR code forward.", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the slanted gray panel for QR code scan and point its QR code toward you.", + "Lift the green payment logo on gray top from the table and rotate it towards you", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Catch the gray slanted panel with text, lift, and rotate to align the qrcode to you.", + "Use the left arm to take the paymentsign and turn it until the QR code faces you", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Lift the gray slanted panel with text and rotate until its qrcode faces you.", + "Pick the payment sign with green logo up and turn its QR code toward you using the left arm.", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Use the left arm to lift the black base with tilted gray panel and rotate it QR code toward you.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Catch the gray slanted panel with text off the table and rotate its qrcode to you.", + "Using the left arm, catch the slanted gray panel for QR code scan and rotate it to face the QR code.", + "Slide the slanted gray panel for QR code scan off the table and turn it to face you.", + "Grab the tabletop-sized payment sign using the left arm, lift, and rotate until QR code faces you.", + "Lift the gray top with QR code and orient its QR code toward you with the left arm.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Catch the gray top with QR code with the left arm, then rotate it to make the QR code visible.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Pick the gray slanted panel with text up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Lift the payment sign with green logo with the left arm, then rotate it to make the qrcode visible.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Use the left arm to grab the gray slanted panel with text and rotate QR code towards you.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Lift the small black stand for payments and rotate it until the QR code faces you.", + "Use the left arm to lift the payment sign with angled face from the table and face the qrcode.", + "Pick the payment sign with green logo up, then rotate to make its qrcode visible.", + "Catch the payment sign with angled face using the left arm, pick it up, and turn it to face the QR code.", + "Grab the gray slanted panel with text using the left arm, then rotate the QR code to face forward.", + "Pick up the payment sign with green logo and adjust its position to face the qrcode towards you.", + "Find the gray slanted panel with text, grab it, and turn it towards yourself.", + "Use the left arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Use the left arm to grab the payment sign with angled face and rotate the qrcode to face you.", + "Grab the gray top with QR code using the left arm, then rotate it until the qrcode faces you.", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Catch and lift the gray slanted panel with text, then turn it to show the QR code.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Catch the small black stand for payments, raise it, and turn it so the QR code faces you", + "Use the left arm to pick the tabletop-sized payment sign and turn it towards you.", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Lift the small black stand for payments from the table, turning it QR code forward.", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Catch the triangular stand with QR code, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the black base with tilted gray panel and point its QR code toward you.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Catch the gray slanted panel with text, lift, and rotate to align the qrcode to you.", + "Use the left arm to take the tabletop-sized payment sign and turn it until the QR code faces you", + "Grab the slanted gray panel for QR code scan with the left arm, then rotate it to face yourself.", + "Lift the gray slanted panel with text and rotate until its qrcode faces you.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the left arm.", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Use the left arm to lift the slanted gray panel for QR code scan and rotate it QR code toward you.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Catch the slanted gray panel for QR code scan off the table and rotate its qrcode to you.", + "Using the left arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Slide the tabletop-sized payment sign off the table and turn it to face you.", + "Grab the black base with tilted gray panel using the left arm, lift, and rotate until QR code faces you.", + "Lift the triangular stand with QR code and orient its QR code toward you with the left arm.", + "Lift the small payment stand with black base from the table and rotate it so the code faces you.", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you." + ], + "unseen": [ + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode33.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..53a5937ea3212fde6aacd95adda702540da62c54 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the paymentsign with glossy blue panel from the table, turning it QR code forward.", + "Use the right arm to pick the paymentsign with angled black stand and turn it towards you.", + "Catch the blue and white rectangular paymentsign, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the paymentsign for scanning QR codes and rotate it until the QR faces forward", + "Catch the blue and white paymentsign, raise it, and turn it so the QR code faces you", + "Find the smooth surface paymentsign, grab it, and turn it towards yourself.", + "Pick the smooth surface paymentsign up, then rotate to make its qrcode visible.", + "Grab the paymentsign with printed QR codes using the right arm, then rotate the QR code to face forward.", + "Grab the rectangular plastic paymentsign with codes, lift it from the table, and rotate it QR front", + "Lift the tabletop paymentsign from the surface and adjust its angle towards you", + "Catch the smooth surface paymentsign, pick it up, and rotate to view the qrcode.", + "Catch the paymentsign for scanning QR codes with the right arm, then rotate it to make the QR code visible.", + "Pick the small paymentsign with stand up, rotate it, and ensure the QR code faces you.", + "Grab the rectangular plastic paymentsign with codes using the right arm, then rotate it until the qrcode faces you.", + "Pick up the paymentsign for scanning QR codes and rotate it so the QR code faces you", + "Slide the small paymentsign with stand off the table and turn it to face you.", + "Take the paymentsign with angled black stand, raise it, and make the qrcode face you.", + "Catch the blue and white paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Catch and lift the paymentsign with glossy blue panel, then turn it to show the QR code.", + "Use the right arm to lift the rectangular plastic paymentsign with codes from the table and face the qrcode.", + "Catch the blue and white paymentsign, lift it, and rotate it QR code facing.", + "Lift the blue and white rectangular paymentsign from the table and rotate it towards you", + "Use the right arm to lift the rectangular plastic paymentsign with codes and rotate it QR code toward you.", + "Use the right arm to grab the rectangular plastic paymentsign with codes, lift, and turn it QR code forward", + "Use the right arm to take the paymentsign with angled black stand and turn it until the QR code faces you", + "Grab the paymentsign with printed QR codes using the right arm, lift, and rotate until QR code faces you.", + "Catch the smooth surface paymentsign, lift it, and adjust its QR code to face you.", + "Grab the rectangular plastic paymentsign with the right arm, then rotate it to face yourself.", + "Grab the paymentsign with angled black stand, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign with printed QR codes with the right arm, then rotate it to make the qrcode visible.", + "Lift the blue and white paymentsign from the table and turn it to face you.", + "Catch the paymentsign with glossy blue panel, lift, and rotate to align the qrcode to you.", + "Take the small glossy paymentsign from the table, rotating it QR code toward you.", + "Lift the paymentsign for scanning QR codes from the table and rotate it so the code faces you.", + "Lift the paymentsign with printed QR codes and orient its QR code toward you with the right arm.", + "Employ the right arm to seize the blue and white paymentsign, raise it, and rotate it QR-forward", + "Locate the rectangular plastic paymentsign with codes, pick it up, and adjust its angle.", + "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.", + "Pick the paymentsign with angled black stand up and turn its QR code toward you using the right arm.", + "Catch the rectangular plastic paymentsign with codes off the table and rotate its qrcode to you.", + "Use the right arm to grab the blue and white paymentsign and rotate the qrcode to face you.", + "Pick up the paymentsign with angled black stand and adjust its position to face the qrcode towards you.", + "Lift the paymentsign with glossy blue panel and rotate for its qrcode to face you.", + "Using the right arm, catch the paymentsign for scanning QR codes and rotate it to face the QR code.", + "Lift the rectangular plastic paymentsign and rotate until its qrcode faces you.", + "Use the right arm to grab the paymentsign with glossy blue panel and point its QR code toward you.", + "Use the right arm to grab the smooth surface paymentsign, rotate, and face the QR code towards you.", + "Lift the paymentsign with printed QR codes and rotate it until the QR code faces you.", + "Use the right arm to grab the paymentsign with angled black stand and rotate QR code towards you.", + "Lift the blue and white rectangular paymentsign from the table, turning it QR code forward.", + "Use the right arm to pick the small glossy paymentsign and turn it towards you.", + "Catch the paymentsign with angled black stand, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the blue and white rectangular paymentsign and rotate it until the QR faces forward", + "Catch the paymentsign with angled black stand, raise it, and turn it so the QR code faces you", + "Find the small glossy paymentsign, grab it, and turn it towards yourself.", + "Pick the paymentsign with printed QR codes up, then rotate to make its qrcode visible.", + "Grab the tabletop paymentsign using the right arm, then rotate the QR code to face forward.", + "Grab the paymentsign with glossy blue panel, lift it from the table, and rotate it QR front", + "Lift the blue and white rectangular paymentsign from the surface and adjust its angle towards you", + "Catch the paymentsign with printed QR codes, pick it up, and rotate to view the qrcode.", + "Catch the paymentsign with printed QR codes with the right arm, then rotate it to make the QR code visible.", + "Pick the blue and white rectangular paymentsign up, rotate it, and ensure the QR code faces you.", + "Grab the blue and white paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Pick up the paymentsign with glossy blue panel and rotate it so the QR code faces you", + "Slide the blue and white rectangular paymentsign off the table and turn it to face you.", + "Take the paymentsign with angled black stand, raise it, and make the qrcode face you.", + "Catch the small paymentsign with stand using the right arm, pick it up, and turn it to face the QR code.", + "Take the paymentsign for scanning QR codes, lift it, and orient it so the QR faces you", + "Catch and lift the small paymentsign with stand, then turn it to show the QR code.", + "Use the right arm to lift the tabletop paymentsign from the table and face the qrcode.", + "Catch the tabletop paymentsign, lift it, and rotate it QR code facing.", + "Lift the small glossy paymentsign from the table and rotate it towards you", + "Use the right arm to lift the rectangular plastic paymentsign and rotate it QR code toward you.", + "Use the right arm to grab the rectangular plastic paymentsign, lift, and turn it QR code forward", + "Use the right arm to take the paymentsign for scanning QR codes and turn it until the QR code faces you", + "Grab the paymentsign with glossy blue panel using the right arm, lift, and rotate until QR code faces you.", + "Catch the small glossy paymentsign, lift it, and adjust its QR code to face you.", + "Grab the small glossy paymentsign with the right arm, then rotate it to face yourself.", + "Grab the blue and white rectangular paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the smooth surface paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Lift the paymentsign with printed QR codes from the table and turn it to face you.", + "Catch the small glossy paymentsign, lift, and rotate to align the qrcode to you.", + "Take the blue and white rectangular paymentsign from the table, rotating it QR code toward you.", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it so the code faces you.", + "Lift the rectangular plastic paymentsign and orient its QR code toward you with the right arm.", + "Employ the right arm to seize the paymentsign for scanning QR codes, raise it, and rotate it QR-forward", + "Locate the paymentsign with printed QR codes, pick it up, and adjust its angle.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to show the QR code.", + "Pick the paymentsign with angled black stand up and turn its QR code toward you using the right arm.", + "Catch the small glossy paymentsign off the table and rotate its qrcode to you.", + "Use the right arm to grab the blue and white rectangular paymentsign and rotate the qrcode to face you.", + "Pick up the small paymentsign with stand and adjust its position to face the qrcode towards you.", + "Lift the paymentsign with glossy blue panel and rotate for its qrcode to face you.", + "Using the right arm, catch the rectangular plastic paymentsign with codes and rotate it to face the QR code.", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Use the right arm to grab the paymentsign with printed QR codes and point its QR code toward you.", + "Use the right arm to grab the small paymentsign with stand, rotate, and face the QR code towards you.", + "Lift the paymentsign with angled black stand and rotate it until the QR code faces you.", + "Use the right arm to grab the tabletop paymentsign and rotate QR code towards you." + ], + "unseen": [ + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the QR code paymentsign on the table and pick it up.", + "Catch the QR code paymentsign from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Pick up the QR code paymentsign and rotate it facing you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode34.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..b537869923bff0d5e9f89f60f585ece89e7c97be --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the white stand sign and rotate it so the QR code faces you", + "Lift the paymentsign with QR code area from the table and rotate it so the code faces you.", + "Grab the tabletop paymentsign with the right arm, then rotate it to face yourself.", + "Catch the paymentsign with the right arm, then rotate it to make the QR code visible.", + "Catch the yellow panel white paymentsign off the table and rotate its qrcode to you.", + "Lift the paymentsign with QR code area from the surface and adjust its angle towards you", + "Lift the sign with yellow payment section from the table, turning it QR code forward.", + "Use the right arm to grab the yellow panel white paymentsign and point its QR code toward you.", + "Pick the white paymentsign with raised base up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the yellow panel white paymentsign and rotate the qrcode to face you.", + "Lift the white paymentsign with raised base with the right arm, then rotate it to make the qrcode visible.", + "Catch the white rectangular paymentsign with yellow details, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the sign with yellow payment section, lift, and turn it QR code forward", + "Employ the right arm to seize the sign with yellow payment section, raise it, and rotate it QR-forward", + "Grab the smooth plastic paymentsign with QR code using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to lift the paymentsign with QR code area from the table and face the qrcode.", + "Lift the tabletop paymentsign and rotate it until the QR code faces you.", + "Take the sign with yellow payment section, raise it, and make the qrcode face you.", + "Use the right arm to take the yellow and white payment display and turn it until the QR code faces you", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Lift the white paymentsign with raised base from the table and rotate it towards you", + "Catch the sign with yellow payment section using the right arm, pick it up, and turn it to face the QR code.", + "Find the sign with yellow payment section, grab it, and turn it towards yourself.", + "Lift the white paymentsign with raised base and orient its QR code toward you with the right arm.", + "Grab the white paymentsign with raised base, pick it up, and turn its qrcode toward you.", + "Using the right arm, catch the paymentsign with QR code area and rotate it to face the QR code.", + "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.", + "Catch the plastic smooth paymentsign, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Lift the yellow panel white paymentsign and rotate until its qrcode faces you.", + "Lift the paymentsign and rotate for its qrcode to face you.", + "Take the plastic smooth paymentsign, lift it, and orient it so the QR faces you", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Grab the sign with yellow payment section using the right arm, lift, and rotate until QR code faces you.", + "Pick the rectangular paymentsign with stand up, then rotate to make its qrcode visible.", + "Use the right arm to lift the plastic smooth paymentsign and rotate it QR code toward you.", + "Catch the tabletop paymentsign, lift it, and rotate it QR code facing.", + "Catch the rectangular paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the white paymentsign with raised base, rotate, and face the QR code towards you.", + "Use the right arm to pick the plastic smooth paymentsign and turn it towards you.", + "Pick the yellow panel white paymentsign up and turn its QR code toward you using the right arm.", + "Pick up the plastic smooth paymentsign and adjust its position to face the qrcode towards you.", + "Catch the rectangular paymentsign with stand, raise it, and turn it so the QR code faces you", + "Catch and lift the paymentsign with QR code area, then turn it to show the QR code.", + "Locate the yellow and white payment display, pick it up, and adjust its angle.", + "Lift the sign with yellow payment section from the table and turn it to face you.", + "Use the right arm to grab the rectangular paymentsign with stand and rotate QR code towards you.", + "Grab the paymentsign with QR code area using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Catch the smooth plastic paymentsign with QR code, lift it, and adjust its QR code to face you.", + "Pick up the paymentsign with QR code area and rotate it so the QR code faces you", + "Lift the tabletop paymentsign from the table and rotate it so the code faces you.", + "Grab the smooth plastic paymentsign with QR code with the right arm, then rotate it to face yourself.", + "Catch the white stand sign with the right arm, then rotate it to make the QR code visible.", + "Catch the sign with yellow payment section off the table and rotate its qrcode to you.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Lift the white stand sign from the table, turning it QR code forward.", + "Use the right arm to grab the paymentsign with QR code area and point its QR code toward you.", + "Pick the paymentsign with QR code area up, rotate it, and ensure the QR code faces you.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate the qrcode to face you.", + "Lift the plastic smooth paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the sign with yellow payment section, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the sign with yellow payment section, lift, and turn it QR code forward", + "Employ the right arm to seize the sign with yellow payment section, raise it, and rotate it QR-forward", + "Grab the yellow and white payment display using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to lift the tabletop paymentsign from the table and face the qrcode.", + "Lift the yellow panel white paymentsign and rotate it until the QR code faces you.", + "Take the white rectangular paymentsign with yellow details, raise it, and make the qrcode face you.", + "Use the right arm to take the yellow and white payment display and turn it until the QR code faces you", + "Take the yellow and white payment display from the table, rotating it QR code toward you.", + "Lift the yellow and white payment display from the table and rotate it towards you", + "Catch the white paymentsign with raised base using the right arm, pick it up, and turn it to face the QR code.", + "Find the yellow and white payment display, grab it, and turn it towards yourself.", + "Lift the sign with yellow payment section and orient its QR code toward you with the right arm.", + "Grab the yellow panel white paymentsign, pick it up, and turn its qrcode toward you.", + "Using the right arm, catch the rectangular paymentsign with stand and rotate it to face the QR code.", + "Catch the sign with yellow payment section, lift it, and turn the qrcode towards you.", + "Catch the yellow and white payment display, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign, lift it from the table, and rotate it QR front", + "Lift the rectangular paymentsign with stand and rotate until its qrcode faces you.", + "Lift the white stand sign and rotate for its qrcode to face you.", + "Take the sign with yellow payment section, lift it, and orient it so the QR faces you", + "Slide the paymentsign with QR code area off the table and turn it to face you.", + "Grab the yellow and white payment display using the right arm, lift, and rotate until QR code faces you.", + "Pick the yellow panel white paymentsign up, then rotate to make its qrcode visible.", + "Use the right arm to lift the plastic smooth paymentsign and rotate it QR code toward you.", + "Catch the white rectangular paymentsign with yellow details, lift it, and rotate it QR code facing.", + "Catch the sign with yellow payment section, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the white rectangular paymentsign with yellow details, rotate, and face the QR code towards you.", + "Use the right arm to pick the white paymentsign with raised base and turn it towards you.", + "Pick the sign with yellow payment section up and turn its QR code toward you using the right arm.", + "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Catch and lift the paymentsign with QR code area, then turn it to show the QR code.", + "Locate the sign with yellow payment section, pick it up, and adjust its angle.", + "Lift the yellow and white payment display from the table and turn it to face you.", + "Use the right arm to grab the yellow panel white paymentsign and rotate QR code towards you.", + "Grab the white paymentsign with raised base using the right arm, then rotate the QR code to face forward.", + "Use the right arm to grab the white paymentsign with raised base and rotate it until the QR faces forward", + "Catch the paymentsign with QR code area, lift it, and adjust its QR code to face you." + ], + "unseen": [ + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the sign for payment processing from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the sign for payment processing up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the sign for payment processing on the table and pick it up.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick the medium paymentsign with QR section off the table using the right arm and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick up the sign for payment processing and rotate it facing you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Catch the sign for payment processing from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode35.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..ec9ddfe20b463f7f0b2084fb242a8d133391d186 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch and lift the green payment logo on gray top, then turn it to show the QR code.", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Use the left arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Catch the slanted gray panel for QR code scan off the table and rotate its qrcode to you.", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Pick up the green payment logo on gray top and adjust its position to face the qrcode towards you.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Using the left arm, catch the slanted gray panel for QR code scan and rotate it to face the QR code.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the triangular stand with QR code from the table, turning it QR code forward.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Use the left arm to pick the slanted gray panel for QR code scan and turn it towards you.", + "Catch the black base with tilted gray panel, pick it up, and rotate to show the QR code.", + "Grab the payment sign with green logo with the left arm, then rotate it to face yourself.", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Lift the black base with tilted gray panel from the surface and adjust its angle towards you", + "Catch the triangular stand with QR code, pick it up, and rotate to view the qrcode.", + "Lift the gray slanted panel with text and rotate for its qrcode to face you.", + "Use the left arm to grab the black base with tilted gray panel and rotate QR code towards you.", + "Use the left arm to lift the paymentsign and rotate it QR code toward you.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate it until the QR faces forward", + "Use the left arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Employ the left arm to seize the gray top with QR code, raise it, and rotate it QR-forward", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Lift the small payment stand with black base from the table and turn it to face you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Find the triangular stand with QR code, grab it, and turn it towards yourself.", + "Grab the paymentsign using the left arm, then rotate the QR code to face forward.", + "Catch the gray top with QR code, lift it, and adjust its QR code to face you.", + "Lift the slanted gray panel for QR code scan with the left arm, then rotate it to make the qrcode visible.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Lift the slanted gray panel for QR code scan from the table and rotate it towards you", + "Catch the payment sign with green logo, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Lift the payment sign with angled face and orient its QR code toward you with the left arm.", + "Catch the black base with tilted gray panel using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the small payment stand with black base and rotate it so the QR code faces you", + "Use the left arm to grab the green payment logo on gray top and point its QR code toward you.", + "Grab the paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Lift the gray top with QR code and rotate until its qrcode faces you.", + "Use the left arm to lift the payment sign with angled face from the table and face the qrcode.", + "Grab the triangular stand with QR code, pick it up, and turn its qrcode toward you.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Pick the gray top with QR code up, then rotate to make its qrcode visible.", + "Pick the payment sign with angled face up, rotate it, and ensure the QR code faces you.", + "Catch and lift the black base with tilted gray panel, then turn it to show the QR code.", + "Use the left arm to take the payment sign with angled face and turn it until the QR code faces you", + "Use the left arm to grab the green payment logo on gray top, rotate, and face the QR code towards you.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Catch the triangular stand with QR code off the table and rotate its qrcode to you.", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Catch the paymentsign, lift it, and rotate it QR code facing.", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.", + "Using the left arm, catch the gray top with QR code and rotate it to face the QR code.", + "Catch the black base with tilted gray panel, lift, and rotate to align the qrcode to you.", + "Lift the small black stand for payments from the table, turning it QR code forward.", + "Pick the payment sign with angled face up and turn its QR code toward you using the left arm.", + "Use the left arm to pick the slanted gray panel for QR code scan and turn it towards you.", + "Catch the black base with tilted gray panel, pick it up, and rotate to show the QR code.", + "Grab the payment sign with angled face with the left arm, then rotate it to face yourself.", + "Slide the slanted gray panel for QR code scan off the table and turn it to face you.", + "Grab the small payment stand with black base, lift it from the table, and rotate it QR front", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Catch the tabletop-sized payment sign, pick it up, and rotate to view the qrcode.", + "Lift the small black stand for payments and rotate for its qrcode to face you.", + "Use the left arm to grab the gray slanted panel with text and rotate QR code towards you.", + "Use the left arm to lift the payment sign with green logo and rotate it QR code toward you.", + "Use the left arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Use the left arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Grab the gray slanted panel with text using the left arm, lift, and rotate until QR code faces you.", + "Locate the small payment stand with black base, pick it up, and adjust its angle.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Take the gray slanted panel with text from the table, rotating it QR code toward you.", + "Find the tabletop-sized payment sign, grab it, and turn it towards yourself.", + "Grab the slanted gray panel for QR code scan using the left arm, then rotate the QR code to face forward.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Lift the small black stand for payments with the left arm, then rotate it to make the qrcode visible.", + "Take the payment sign with angled face, lift it, and orient it so the QR faces you", + "Lift the gray slanted panel with text from the table and rotate it towards you", + "Catch the gray slanted panel with text, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the green payment logo on gray top and rotate the qrcode to face you.", + "Lift the payment sign with angled face and orient its QR code toward you with the left arm.", + "Catch the triangular stand with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Pick up the payment sign with angled face and rotate it so the QR code faces you", + "Use the left arm to grab the slanted gray panel for QR code scan and point its QR code toward you.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Use the left arm to lift the gray slanted panel with text from the table and face the qrcode.", + "Grab the small black stand for payments, pick it up, and turn its qrcode toward you.", + "Catch the triangular stand with QR code with the left arm, then rotate it to make the QR code visible.", + "Pick the gray slanted panel with text up, then rotate to make its qrcode visible.", + "Pick the green payment logo on gray top up, rotate it, and ensure the QR code faces you." + ], + "unseen": [ + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode36.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..c50193edb3a3d8a1de84402fa4d5a84687042d6d --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the black base with tilted gray panel using the left arm, pick it up, and turn it to face the QR code.", + "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Catch and lift the triangular stand with QR code, then turn it to show the QR code.", + "Using the left arm, catch the small black stand for payments and rotate it to face the QR code.", + "Grab the green payment logo on gray top, lift it from the table, and rotate it QR front", + "Lift the paymentsign from the table, turning it QR code forward.", + "Grab the payment sign with angled face, pick it up, and turn its qrcode toward you.", + "Grab the black base with tilted gray panel using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to lift the tabletop-sized payment sign from the table and face the qrcode.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Catch the small payment stand with black base off the table and rotate its qrcode to you.", + "Catch the black base with tilted gray panel, lift it, and rotate it QR code facing.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Grab the payment sign with angled face using the left arm, then rotate the QR code to face forward.", + "Lift the slanted gray panel for QR code scan and rotate for its qrcode to face you.", + "Use the left arm to grab the green payment logo on gray top and point its QR code toward you.", + "Pick up the black base with tilted gray panel and rotate it so the QR code faces you", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the left arm.", + "Grab the small black stand for payments with the left arm, then rotate it to face yourself.", + "Catch the black base with tilted gray panel, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the green payment logo on gray top, raise it, and rotate it QR-forward", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Lift the black base with tilted gray panel and orient its QR code toward you with the left arm.", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Pick up the tabletop-sized payment sign and adjust its position to face the qrcode towards you.", + "Use the left arm to pick the payment sign with angled face and turn it towards you.", + "Use the left arm to grab the tabletop-sized payment sign and rotate it until the QR faces forward", + "Take the gray slanted panel with text, lift it, and orient it so the QR faces you", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Take the black base with tilted gray panel from the table, rotating it QR code toward you.", + "Use the left arm to grab the small black stand for payments and rotate QR code towards you.", + "Use the left arm to grab the gray slanted panel with text, lift, and turn it QR code forward", + "Find the black base with tilted gray panel, grab it, and turn it towards yourself.", + "Pick the gray top with QR code up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it so the code faces you.", + "Use the left arm to grab the payment sign with green logo and rotate the qrcode to face you.", + "Lift the green payment logo on gray top from the surface and adjust its angle towards you", + "Locate the small payment stand with black base, pick it up, and adjust its angle.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Catch the payment sign with green logo, pick it up, and rotate to view the qrcode.", + "Use the left arm to take the paymentsign and turn it until the QR code faces you", + "Lift the black base with tilted gray panel and rotate it until the QR code faces you.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Pick the payment sign with angled face up, then rotate to make its qrcode visible.", + "Use the left arm to grab the small black stand for payments, rotate, and face the QR code towards you.", + "Catch the gray slanted panel with text, lift it, and adjust its QR code to face you.", + "Catch the triangular stand with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you", + "Lift the slanted gray panel for QR code scan with the left arm, then rotate it to make the qrcode visible.", + "Catch and lift the small black stand for payments, then turn it to show the QR code.", + "Using the left arm, catch the slanted gray panel for QR code scan and rotate it to face the QR code.", + "Grab the black base with tilted gray panel, lift it from the table, and rotate it QR front", + "Lift the tabletop-sized payment sign from the table, turning it QR code forward.", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Grab the gray slanted panel with text using the left arm, then rotate it until the qrcode faces you.", + "Catch the tabletop-sized payment sign, lift, and rotate to align the qrcode to you.", + "Use the left arm to lift the small black stand for payments from the table and face the qrcode.", + "Take the slanted gray panel for QR code scan, raise it, and make the qrcode face you.", + "Catch the payment sign with green logo off the table and rotate its qrcode to you.", + "Catch the small payment stand with black base, lift it, and rotate it QR code facing.", + "Catch the green payment logo on gray top with the left arm, then rotate it to make the QR code visible.", + "Grab the payment sign with green logo using the left arm, then rotate the QR code to face forward.", + "Lift the black base with tilted gray panel and rotate for its qrcode to face you.", + "Use the left arm to grab the tabletop-sized payment sign and point its QR code toward you.", + "Pick up the payment sign with angled face and rotate it so the QR code faces you", + "Slide the triangular stand with QR code off the table and turn it to face you.", + "Pick the gray slanted panel with text up and turn its QR code toward you using the left arm.", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the payment sign with green logo, raise it, and rotate it QR-forward", + "Use the left arm to lift the triangular stand with QR code and rotate it QR code toward you.", + "Lift the small payment stand with black base and orient its QR code toward you with the left arm.", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Use the left arm to pick the green payment logo on gray top and turn it towards you.", + "Use the left arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Take the slanted gray panel for QR code scan, lift it, and orient it so the QR faces you", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Take the triangular stand with QR code from the table, rotating it QR code toward you.", + "Use the left arm to grab the payment sign with green logo and rotate QR code towards you.", + "Use the left arm to grab the small black stand for payments, lift, and turn it QR code forward", + "Find the slanted gray panel for QR code scan, grab it, and turn it towards yourself.", + "Pick the gray slanted panel with text up, rotate it, and ensure the QR code faces you.", + "Lift the small payment stand with black base and rotate until its qrcode faces you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it so the code faces you.", + "Use the left arm to grab the green payment logo on gray top and rotate the qrcode to face you.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Lift the green payment logo on gray top from the table and turn it to face you.", + "Catch the tabletop-sized payment sign, pick it up, and rotate to view the qrcode.", + "Use the left arm to take the gray top with QR code and turn it until the QR code faces you", + "Lift the slanted gray panel for QR code scan and rotate it until the QR code faces you.", + "Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Use the left arm to grab the payment sign with angled face, rotate, and face the QR code towards you.", + "Catch the paymentsign, lift it, and adjust its QR code to face you." + ], + "unseen": [ + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black stand with angled display from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode37.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..e41c6473f01b6926b85b246cd3f666e6b65e54c2 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the rectangular plastic paymentsign up and turn its QR code toward you using the right arm.", + "Catch the paymentsign for scanning QR codes, lift, and rotate to align the qrcode to you.", + "Grab the rectangular plastic paymentsign with codes, lift it from the table, and rotate it QR front", + "Use the right arm to grab the paymentsign with angled black stand and rotate QR code towards you.", + "Grab the rectangular plastic paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the rectangular plastic paymentsign with codes, lift, and turn it QR code forward", + "Lift the paymentsign with angled black stand from the surface and adjust its angle towards you", + "Use the right arm to grab the tabletop paymentsign and rotate it until the QR faces forward", + "Pick the paymentsign for scanning QR codes up, then rotate to make its qrcode visible.", + "Pick up the small glossy paymentsign and rotate it so the QR code faces you", + "Slide the rectangular plastic paymentsign off the table and turn it to face you.", + "Grab the blue and white rectangular paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign with glossy blue panel using the right arm, then rotate the QR code to face forward.", + "Use the right arm to take the paymentsign with angled black stand and turn it until the QR code faces you", + "Catch the paymentsign with angled black stand with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the paymentsign with angled black stand, rotate, and face the QR code towards you.", + "Catch the paymentsign for scanning QR codes, lift it, and rotate it QR code facing.", + "Catch the blue and white paymentsign, pick it up, and rotate to view the qrcode.", + "Use the right arm to lift the blue and white rectangular paymentsign and rotate it QR code toward you.", + "Take the rectangular plastic paymentsign from the table, rotating it QR code toward you.", + "Lift the rectangular plastic paymentsign and orient its QR code toward you with the right arm.", + "Using the right arm, catch the paymentsign with glossy blue panel and rotate it to face the QR code.", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it towards you", + "Grab the small glossy paymentsign with the right arm, then rotate it to face yourself.", + "Take the paymentsign for scanning QR codes, lift it, and orient it so the QR faces you", + "Use the right arm to pick the paymentsign for scanning QR codes and turn it towards you.", + "Lift the paymentsign with angled black stand and rotate it until the QR code faces you.", + "Employ the right arm to seize the smooth surface paymentsign, raise it, and rotate it QR-forward", + "Pick the paymentsign with angled black stand up, rotate it, and ensure the QR code faces you.", + "Take the small paymentsign with stand, raise it, and make the qrcode face you.", + "Lift the rectangular plastic paymentsign with codes and rotate until its qrcode faces you.", + "Catch the paymentsign for scanning QR codes off the table and rotate its qrcode to you.", + "Catch and lift the small glossy paymentsign, then turn it to show the QR code.", + "Use the right arm to lift the small paymentsign with stand from the table and face the qrcode.", + "Grab the paymentsign for scanning QR codes using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the smooth surface paymentsign and rotate the qrcode to face you.", + "Find the small glossy paymentsign, grab it, and turn it towards yourself.", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Catch the paymentsign with printed QR codes, raise it, and turn it so the QR code faces you", + "Locate the small paymentsign with stand, pick it up, and adjust its angle.", + "Lift the paymentsign with printed QR codes with the right arm, then rotate it to make the qrcode visible.", + "Lift the smooth surface paymentsign from the table and rotate it so the code faces you.", + "Pick up the paymentsign with angled black stand and adjust its position to face the qrcode towards you.", + "Catch the small paymentsign with stand using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the rectangular plastic paymentsign and point its QR code toward you.", + "Catch the paymentsign for scanning QR codes, pick it up, and rotate to show the QR code.", + "Lift the small glossy paymentsign from the table and turn it to face you.", + "Lift the rectangular plastic paymentsign with codes and rotate for its qrcode to face you.", + "Lift the small paymentsign with stand from the table, turning it QR code forward.", + "Pick the paymentsign for scanning QR codes up and turn its QR code toward you using the right arm.", + "Catch the paymentsign with glossy blue panel, lift, and rotate to align the qrcode to you.", + "Grab the small paymentsign with stand, lift it from the table, and rotate it QR front", + "Use the right arm to grab the blue and white paymentsign and rotate QR code towards you.", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the small paymentsign with stand, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the blue and white paymentsign, lift, and turn it QR code forward", + "Lift the small glossy paymentsign from the surface and adjust its angle towards you", + "Use the right arm to grab the paymentsign with angled black stand and rotate it until the QR faces forward", + "Pick the blue and white paymentsign up, then rotate to make its qrcode visible.", + "Pick up the rectangular plastic paymentsign with codes and rotate it so the QR code faces you", + "Slide the blue and white paymentsign off the table and turn it to face you.", + "Grab the blue and white paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Grab the small glossy paymentsign using the right arm, then rotate the QR code to face forward.", + "Use the right arm to take the blue and white paymentsign and turn it until the QR code faces you", + "Catch the small glossy paymentsign with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the tabletop paymentsign, rotate, and face the QR code towards you.", + "Catch the small paymentsign with stand, lift it, and rotate it QR code facing.", + "Catch the small paymentsign with stand, pick it up, and rotate to view the qrcode.", + "Use the right arm to lift the paymentsign for scanning QR codes and rotate it QR code toward you.", + "Take the tabletop paymentsign from the table, rotating it QR code toward you.", + "Lift the smooth surface paymentsign and orient its QR code toward you with the right arm.", + "Using the right arm, catch the small paymentsign with stand and rotate it to face the QR code.", + "Lift the blue and white rectangular paymentsign from the table and rotate it towards you", + "Grab the small glossy paymentsign with the right arm, then rotate it to face yourself.", + "Take the smooth surface paymentsign, lift it, and orient it so the QR faces you", + "Use the right arm to pick the paymentsign with printed QR codes and turn it towards you.", + "Lift the tabletop paymentsign and rotate it until the QR code faces you.", + "Employ the right arm to seize the blue and white rectangular paymentsign, raise it, and rotate it QR-forward", + "Pick the paymentsign for scanning QR codes up, rotate it, and ensure the QR code faces you.", + "Take the small paymentsign with stand, raise it, and make the qrcode face you.", + "Lift the paymentsign with glossy blue panel and rotate until its qrcode faces you.", + "Catch the paymentsign for scanning QR codes off the table and rotate its qrcode to you.", + "Catch and lift the blue and white rectangular paymentsign, then turn it to show the QR code.", + "Use the right arm to lift the small glossy paymentsign from the table and face the qrcode.", + "Grab the paymentsign with angled black stand using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to grab the blue and white rectangular paymentsign and rotate the qrcode to face you.", + "Find the smooth surface paymentsign, grab it, and turn it towards yourself.", + "Catch the blue and white rectangular paymentsign, lift it, and adjust its QR code to face you.", + "Catch the paymentsign with printed QR codes, raise it, and turn it so the QR code faces you", + "Locate the rectangular plastic paymentsign, pick it up, and adjust its angle.", + "Lift the paymentsign with printed QR codes with the right arm, then rotate it to make the qrcode visible.", + "Lift the paymentsign for scanning QR codes from the table and rotate it so the code faces you.", + "Pick up the paymentsign for scanning QR codes and adjust its position to face the qrcode towards you.", + "Catch the small paymentsign with stand using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the small paymentsign with stand and point its QR code toward you.", + "Catch the paymentsign with printed QR codes, pick it up, and rotate to show the QR code.", + "Lift the rectangular plastic paymentsign with codes from the table and turn it to face you.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Lift the smooth surface paymentsign from the table, turning it QR code forward." + ], + "unseen": [ + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode38.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..55c5fdcaa4de46775ebeca4796d79c1cd6630098 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch and lift the gray slanted panel with text, then turn it to show the QR code.", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Use the right arm to lift the small black stand for payments and rotate it QR code toward you.", + "Take the tabletop-sized payment sign from the table, rotating it QR code toward you.", + "Lift the tabletop-sized payment sign and rotate it until the QR code faces you.", + "Use the right arm to lift the black base with tilted gray panel from the table and face the qrcode.", + "Lift the gray slanted panel with text from the table, turning it QR code forward.", + "Pick the gray top with QR code up, then rotate to make its qrcode visible.", + "Lift the small black stand for payments from the surface and adjust its angle towards you", + "Use the right arm to grab the small black stand for payments and rotate QR code towards you.", + "Lift the payment sign with green logo from the table and rotate it so the code faces you.", + "Lift the tabletop-sized payment sign and rotate until its qrcode faces you.", + "Grab the gray top with QR code with the right arm, then rotate it to face yourself.", + "Catch the small payment stand with black base, lift it, and adjust its QR code to face you.", + "Catch the tabletop-sized payment sign with the right arm, then rotate it to make the QR code visible.", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Slide the payment sign with angled face off the table and turn it to face you.", + "Catch the tabletop-sized payment sign off the table and rotate its qrcode to you.", + "Lift the payment sign with angled face from the table and rotate it towards you", + "Lift the black base with tilted gray panel and rotate for its qrcode to face you.", + "Take the slanted gray panel for QR code scan, lift it, and orient it so the QR faces you", + "Locate the gray slanted panel with text, pick it up, and adjust its angle.", + "Using the right arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Use the right arm to grab the gray top with QR code and point its QR code toward you.", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Employ the right arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Grab the payment sign with green logo using the right arm, then rotate it until the qrcode faces you.", + "Catch the payment sign with angled face, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the slanted gray panel for QR code scan, rotate, and face the QR code towards you.", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Use the right arm to pick the tabletop-sized payment sign and turn it towards you.", + "Catch the tabletop-sized payment sign, raise it, and turn it so the QR code faces you", + "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the payment sign with angled face and rotate it until the QR faces forward", + "Grab the tabletop-sized payment sign, pick it up, and turn its qrcode toward you.", + "Catch the payment sign with green logo, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the black base with tilted gray panel, lift, and turn it QR code forward", + "Find the payment sign with green logo, grab it, and turn it towards yourself.", + "Lift the payment sign with green logo with the right arm, then rotate it to make the qrcode visible.", + "Grab the black base with tilted gray panel using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Pick the black base with tilted gray panel up and turn its QR code toward you using the right arm.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Use the right arm to grab the gray top with QR code and rotate the qrcode to face you.", + "Pick the gray top with QR code up, rotate it, and ensure the QR code faces you.", + "Catch the black base with tilted gray panel, pick it up, and rotate to view the qrcode.", + "Grab the payment sign with angled face using the right arm, then rotate the QR code to face forward.", + "Lift the payment sign with angled face and orient its QR code toward you with the right arm.", + "Catch the gray slanted panel with text, lift it, and turn the qrcode towards you.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you", + "Catch and lift the gray slanted panel with text, then turn it to show the QR code.", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Use the right arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Use the right arm to lift the small payment stand with black base from the table and face the qrcode.", + "Lift the small black stand for payments from the table, turning it QR code forward.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Lift the slanted gray panel for QR code scan from the surface and adjust its angle towards you", + "Use the right arm to grab the black base with tilted gray panel and rotate QR code towards you.", + "Lift the gray slanted panel with text from the table and rotate it so the code faces you.", + "Lift the tabletop-sized payment sign and rotate until its qrcode faces you.", + "Grab the small payment stand with black base with the right arm, then rotate it to face yourself.", + "Catch the triangular stand with QR code, lift it, and adjust its QR code to face you.", + "Catch the payment sign with green logo with the right arm, then rotate it to make the QR code visible.", + "Pick up the gray slanted panel with text and adjust its position to face the qrcode towards you.", + "Slide the small payment stand with black base off the table and turn it to face you.", + "Catch the gray top with QR code off the table and rotate its qrcode to you.", + "Lift the green payment logo on gray top from the table and rotate it towards you", + "Lift the payment sign with green logo and rotate for its qrcode to face you.", + "Take the small black stand for payments, lift it, and orient it so the QR faces you", + "Locate the green payment logo on gray top, pick it up, and adjust its angle.", + "Using the right arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Use the right arm to grab the triangular stand with QR code and point its QR code toward you.", + "Take the gray top with QR code, raise it, and make the qrcode face you.", + "Employ the right arm to seize the tabletop-sized payment sign, raise it, and rotate it QR-forward", + "Grab the small black stand for payments using the right arm, then rotate it until the qrcode faces you.", + "Catch the payment sign with angled face, pick it up, and rotate to show the QR code.", + "Use the right arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Catch the tabletop-sized payment sign, lift it, and rotate it QR code facing.", + "Use the right arm to pick the triangular stand with QR code and turn it towards you.", + "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you", + "Catch the slanted gray panel for QR code scan using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Grab the black base with tilted gray panel, pick it up, and turn its qrcode toward you.", + "Catch the gray top with QR code, lift, and rotate to align the qrcode to you.", + "Use the right arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Find the black base with tilted gray panel, grab it, and turn it towards yourself.", + "Lift the green payment logo on gray top with the right arm, then rotate it to make the qrcode visible.", + "Grab the payment sign with green logo using the right arm, lift, and rotate until QR code faces you.", + "Use the right arm to take the gray slanted panel with text and turn it until the QR code faces you", + "Pick the slanted gray panel for QR code scan up and turn its QR code toward you using the right arm.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Use the right arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Pick the green payment logo on gray top up, rotate it, and ensure the QR code faces you.", + "Catch the triangular stand with QR code, pick it up, and rotate to view the qrcode.", + "Grab the payment sign with green logo using the right arm, then rotate the QR code to face forward.", + "Lift the payment sign with angled face and orient its QR code toward you with the right arm.", + "Catch the paymentsign, lift it, and turn the qrcode towards you.", + "Pick up the payment sign with green logo and rotate it so the QR code faces you" + ], + "unseen": [ + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign on the table and pick it up.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode39.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..1c8855815ac58a5c09a49384d9728fe9551d4b02 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the QR code paymentsign, raise it, and turn it so the QR code faces you", + "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you", + "Grab the beige paymentsign with printed details with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Use the right arm to take the QR code paymentsign and turn it until the QR code faces you", + "Catch the paymentsign resting on angled base, lift it, and adjust its QR code to face you.", + "Catch the small paymentsign for mobile payments off the table and rotate its qrcode to you.", + "Take the smooth beige paymentsign, raise it, and make the qrcode face you.", + "Catch the smooth beige paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Pick the compact paymentsign for scanning payments up, rotate it, and ensure the QR code faces you.", + "Employ the right arm to seize the compact paymentsign for scanning payments, raise it, and rotate it QR-forward", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it so the code faces you.", + "Lift the paymentsign showing QR code label and rotate until its qrcode faces you.", + "Use the right arm to grab the smooth beige paymentsign and rotate the qrcode to face you.", + "Use the right arm to pick the beige paymentsign and turn it towards you.", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Lift the paymentsign with tilted rectangular panel from the table, turning it QR code forward.", + "Grab the paymentsign resting on angled base using the right arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign showing QR code label, pick it up, and rotate to show the QR code.", + "Use the right arm to lift the QR code paymentsign and rotate it QR code toward you.", + "Use the right arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.", + "Catch and lift the QR code paymentsign, then turn it to show the QR code.", + "Locate the QR code paymentsign, pick it up, and adjust its angle.", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Take the paymentsign resting on angled base from the table, rotating it QR code toward you.", + "Pick the paymentsign resting on angled base up and turn its QR code toward you using the right arm.", + "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Grab the paymentsign with tilted rectangular panel, lift it from the table, and rotate it QR front", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Lift the smooth beige paymentsign and orient its QR code toward you with the right arm.", + "Slide the paymentsign resting on angled base off the table and turn it to face you.", + "Lift the stand-up paymentsign with rectangular top with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the beige paymentsign with printed details and rotate QR code towards you.", + "Lift the rectangular paymentsign with colorful top and rotate it until the QR code faces you.", + "Catch the compact paymentsign for scanning payments with the right arm, then rotate it to make the QR code visible.", + "Pick up the small paymentsign for mobile payments and adjust its position to face the qrcode towards you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Grab the paymentsign showing QR code label using the right arm, then rotate the QR code to face forward.", + "Catch the paymentsign showing QR code label, lift it, and rotate it QR code facing.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Grab the stand-up paymentsign with rectangular top using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the QR code paymentsign and point its QR code toward you.", + "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you", + "Use the right arm to grab the paymentsign with blue and white text and rotate it until the QR faces forward", + "Using the right arm, catch the smooth beige paymentsign and rotate it to face the QR code.", + "Lift the stand-up paymentsign with rectangular top and rotate for its qrcode to face you.", + "Use the right arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you", + "Grab the paymentsign resting on angled base with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the QR code paymentsign from the table and face the qrcode.", + "Use the right arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Catch the compact paymentsign for scanning payments, lift it, and adjust its QR code to face you.", + "Catch the paymentsign resting on angled base off the table and rotate its qrcode to you.", + "Take the QR code paymentsign, raise it, and make the qrcode face you.", + "Catch the stand-up paymentsign with rectangular top using the right arm, pick it up, and turn it to face the QR code.", + "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.", + "Pick the paymentsign showing QR code label up, then rotate to make its qrcode visible.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Employ the right arm to seize the compact paymentsign for scanning payments, raise it, and rotate it QR-forward", + "Lift the beige paymentsign with printed details from the table and rotate it so the code faces you.", + "Lift the beige paymentsign and rotate until its qrcode faces you.", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate the qrcode to face you.", + "Use the right arm to pick the compact paymentsign for scanning payments and turn it towards you.", + "Find the beige paymentsign with printed details, grab it, and turn it towards yourself.", + "Lift the rectangular paymentsign with colorful top from the table, turning it QR code forward.", + "Grab the beige paymentsign with printed details using the right arm, lift, and rotate until QR code faces you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Use the right arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Use the right arm to grab the rectangular paymentsign with colorful top, rotate, and face the QR code towards you.", + "Catch and lift the stand-up paymentsign with rectangular top, then turn it to show the QR code.", + "Locate the QR code paymentsign, pick it up, and adjust its angle.", + "Lift the QR code paymentsign from the table and turn it to face you.", + "Take the paymentsign with blue and white text from the table, rotating it QR code toward you.", + "Pick the paymentsign showing QR code label up and turn its QR code toward you using the right arm.", + "Grab the smooth beige paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Grab the compact paymentsign for scanning payments, lift it from the table, and rotate it QR front", + "Catch the small paymentsign for mobile payments, lift it, and turn the qrcode towards you.", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the right arm.", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Lift the paymentsign resting on angled base with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the paymentsign with blue and white text and rotate QR code towards you.", + "Lift the stand-up paymentsign with rectangular top and rotate it until the QR code faces you.", + "Catch the rectangular paymentsign with colorful top with the right arm, then rotate it to make the QR code visible.", + "Pick up the small paymentsign for mobile payments and adjust its position to face the qrcode towards you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Grab the paymentsign with tilted rectangular panel using the right arm, then rotate the QR code to face forward.", + "Catch the small paymentsign for mobile payments, lift it, and rotate it QR code facing.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Grab the paymentsign with blue and white text using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to grab the QR code paymentsign and point its QR code toward you.", + "Take the paymentsign with blue and white text, lift it, and orient it so the QR faces you", + "Use the right arm to grab the paymentsign with tilted rectangular panel and rotate it until the QR faces forward", + "Using the right arm, catch the QR code paymentsign and rotate it to face the QR code.", + "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.", + "Use the right arm to grab the compact paymentsign for scanning payments, lift, and turn it QR code forward" + ], + "unseen": [ + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode4.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..d5c42d9d4c9011881d6e5e7abc89c3481b359396 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Employ the left arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Using the left arm, catch the small black stand for payments and rotate it to face the QR code.", + "Use the left arm to grab the slanted gray panel for QR code scan, lift, and turn it QR code forward", + "Pick up the gray slanted panel with text and rotate it so the QR code faces you", + "Lift the small payment stand with black base from the table, turning it QR code forward.", + "Use the left arm to pick the slanted gray panel for QR code scan and turn it towards you.", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.", + "Catch the slanted gray panel for QR code scan, lift it, and turn the qrcode towards you.", + "Find the gray top with QR code, grab it, and turn it towards yourself.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Pick the black base with tilted gray panel up and turn its QR code toward you using the left arm.", + "Lift the triangular stand with QR code and orient its QR code toward you with the left arm.", + "Grab the payment sign with angled face, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the triangular stand with QR code and point its QR code toward you.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Use the left arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Use the left arm to take the gray slanted panel with text and turn it until the QR code faces you", + "Use the left arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Grab the gray top with QR code using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the small payment stand with black base and rotate it until the QR faces forward", + "Take the gray top with QR code from the table, rotating it QR code toward you.", + "Lift the green payment logo on gray top from the table and turn it to face you.", + "Grab the payment sign with green logo with the left arm, then rotate it to face yourself.", + "Catch the gray top with QR code with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the gray top with QR code and rotate the qrcode to face you.", + "Lift the payment sign with angled face and rotate until its qrcode faces you.", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Grab the triangular stand with QR code using the left arm, then rotate the QR code to face forward.", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Lift the gray slanted panel with text and rotate it until the QR code faces you.", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the green payment logo on gray top and rotate QR code towards you.", + "Catch the payment sign with angled face, pick it up, and rotate to show the QR code.", + "Grab the small black stand for payments, lift it from the table, and rotate it QR front", + "Catch and lift the gray top with QR code, then turn it to show the QR code.", + "Slide the small black stand for payments off the table and turn it to face you.", + "Grab the payment sign with angled face using the left arm, lift, and rotate until QR code faces you.", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the small black stand for payments from the table and face the qrcode.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Pick the small black stand for payments up, rotate it, and ensure the QR code faces you.", + "Catch the small payment stand with black base, pick it up, and rotate to view the qrcode.", + "Lift the triangular stand with QR code with the left arm, then rotate it to make the qrcode visible.", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Take the payment sign with green logo, lift it, and orient it so the QR faces you", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you.", + "Employ the left arm to seize the black base with tilted gray panel, raise it, and rotate it QR-forward", + "Using the left arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Use the left arm to grab the black base with tilted gray panel, lift, and turn it QR code forward", + "Pick up the slanted gray panel for QR code scan and rotate it so the QR code faces you", + "Lift the triangular stand with QR code from the table, turning it QR code forward.", + "Use the left arm to pick the paymentsign and turn it towards you.", + "Lift the gray top with QR code from the table and rotate it towards you", + "Pick up the slanted gray panel for QR code scan and adjust its position to face the qrcode towards you.", + "Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.", + "Find the gray slanted panel with text, grab it, and turn it towards yourself.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Pick the paymentsign up and turn its QR code toward you using the left arm.", + "Lift the small black stand for payments and orient its QR code toward you with the left arm.", + "Grab the slanted gray panel for QR code scan, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the slanted gray panel for QR code scan and point its QR code toward you.", + "Locate the triangular stand with QR code, pick it up, and adjust its angle.", + "Use the left arm to grab the small payment stand with black base, rotate, and face the QR code towards you.", + "Use the left arm to take the payment sign with green logo and turn it until the QR code faces you", + "Use the left arm to lift the tabletop-sized payment sign and rotate it QR code toward you.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the gray slanted panel with text and rotate it until the QR faces forward", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Grab the small black stand for payments with the left arm, then rotate it to face yourself.", + "Catch the gray slanted panel with text with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the payment sign with angled face and rotate the qrcode to face you.", + "Lift the small black stand for payments and rotate until its qrcode faces you.", + "Catch the gray top with QR code, lift it, and adjust its QR code to face you.", + "Grab the gray top with QR code using the left arm, then rotate the QR code to face forward.", + "Catch the small payment stand with black base off the table and rotate its qrcode to you.", + "Lift the black base with tilted gray panel from the surface and adjust its angle towards you", + "Lift the payment sign with green logo and rotate it until the QR code faces you.", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the black base with tilted gray panel and rotate QR code towards you.", + "Catch the gray slanted panel with text, pick it up, and rotate to show the QR code.", + "Grab the green payment logo on gray top, lift it from the table, and rotate it QR front", + "Catch and lift the gray slanted panel with text, then turn it to show the QR code.", + "Slide the paymentsign off the table and turn it to face you.", + "Grab the green payment logo on gray top using the left arm, lift, and rotate until QR code faces you.", + "Take the slanted gray panel for QR code scan, raise it, and make the qrcode face you.", + "Catch the small black stand for payments, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the green payment logo on gray top from the table and face the qrcode.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Catch the gray top with QR code, lift, and rotate to align the qrcode to you.", + "Pick the small black stand for payments up, rotate it, and ensure the QR code faces you.", + "Catch the tabletop-sized payment sign, pick it up, and rotate to view the qrcode.", + "Lift the gray top with QR code with the left arm, then rotate it to make the qrcode visible.", + "Lift the payment sign with angled face and rotate for its qrcode to face you.", + "Take the black base with tilted gray panel, lift it, and orient it so the QR faces you", + "Lift the triangular stand with QR code from the table and rotate it so the code faces you." + ], + "unseen": [ + "Catch the black triangular stand from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign from the table and rotate it", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand on the table and pick it up.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Catch the black stand with angled display from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode40.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..9d955c341d887440468618582cae83f2cbcafe14 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the black base with tilted gray panel and rotate it so the QR code faces you", + "Catch the triangular stand with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Catch and lift the tabletop-sized payment sign, then turn it to show the QR code.", + "Catch the tabletop-sized payment sign, raise it, and turn it so the QR code faces you", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Catch the gray top with QR code, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate QR code towards you.", + "Use the left arm to lift the payment sign with green logo from the table and face the qrcode.", + "Lift the gray slanted panel with text and rotate until its qrcode faces you.", + "Lift the black base with tilted gray panel and rotate it until the QR code faces you.", + "Use the left arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Take the payment sign with angled face, lift it, and orient it so the QR faces you", + "Grab the gray top with QR code using the left arm, then rotate the QR code to face forward.", + "Catch the tabletop-sized payment sign off the table and rotate its qrcode to you.", + "Pick up the gray top with QR code and adjust its position to face the qrcode towards you.", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Grab the green payment logo on gray top with the left arm, then rotate it to face yourself.", + "Grab the green payment logo on gray top, pick it up, and turn its qrcode toward you.", + "Lift the triangular stand with QR code from the table and rotate it so the code faces you.", + "Grab the small black stand for payments using the left arm, lift, and rotate until QR code faces you.", + "Lift the tabletop-sized payment sign from the table and rotate it towards you", + "Catch the small payment stand with black base, lift it, and turn the qrcode towards you.", + "Use the left arm to pick the small black stand for payments and turn it towards you.", + "Employ the left arm to seize the gray slanted panel with text, raise it, and rotate it QR-forward", + "Use the left arm to grab the triangular stand with QR code and point its QR code toward you.", + "Grab the gray top with QR code using the left arm, then rotate it until the qrcode faces you.", + "Lift the green payment logo on gray top with the left arm, then rotate it to make the qrcode visible.", + "Lift the small payment stand with black base from the surface and adjust its angle towards you", + "Use the left arm to lift the gray top with QR code and rotate it QR code toward you.", + "Catch the payment sign with angled face, lift, and rotate to align the qrcode to you.", + "Lift the payment sign with green logo from the table and turn it to face you.", + "Use the left arm to grab the black base with tilted gray panel and rotate the qrcode to face you.", + "Catch the paymentsign with the left arm, then rotate it to make the QR code visible.", + "Take the gray top with QR code from the table, rotating it QR code toward you.", + "Pick the paymentsign up and turn its QR code toward you using the left arm.", + "Using the left arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Use the left arm to grab the green payment logo on gray top and rotate it until the QR faces forward", + "Find the small black stand for payments, grab it, and turn it towards yourself.", + "Catch the tabletop-sized payment sign, lift it, and rotate it QR code facing.", + "Catch the gray top with QR code, lift it, and adjust its QR code to face you.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Lift the payment sign with angled face and orient its QR code toward you with the left arm.", + "Lift the triangular stand with QR code from the table, turning it QR code forward.", + "Use the left arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you", + "Take the paymentsign, raise it, and make the qrcode face you.", + "Pick the gray slanted panel with text up, then rotate to make its qrcode visible.", + "Use the left arm to grab the green payment logo on gray top, lift, and turn it QR code forward", + "Catch the gray top with QR code, pick it up, and rotate to show the QR code.", + "Pick up the black base with tilted gray panel and rotate it so the QR code faces you", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Catch the small payment stand with black base, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the gray top with QR code and rotate QR code towards you.", + "Use the left arm to lift the tabletop-sized payment sign from the table and face the qrcode.", + "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.", + "Lift the gray slanted panel with text and rotate it until the QR code faces you.", + "Use the left arm to grab the black base with tilted gray panel, rotate, and face the QR code towards you.", + "Take the triangular stand with QR code, lift it, and orient it so the QR faces you", + "Grab the tabletop-sized payment sign using the left arm, then rotate the QR code to face forward.", + "Catch the gray top with QR code off the table and rotate its qrcode to you.", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Slide the small black stand for payments off the table and turn it to face you.", + "Grab the tabletop-sized payment sign with the left arm, then rotate it to face yourself.", + "Grab the green payment logo on gray top, pick it up, and turn its qrcode toward you.", + "Lift the slanted gray panel for QR code scan from the table and rotate it so the code faces you.", + "Grab the triangular stand with QR code using the left arm, lift, and rotate until QR code faces you.", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Catch the gray top with QR code, lift it, and turn the qrcode towards you.", + "Use the left arm to pick the payment sign with green logo and turn it towards you.", + "Employ the left arm to seize the small black stand for payments, raise it, and rotate it QR-forward", + "Use the left arm to grab the green payment logo on gray top and point its QR code toward you.", + "Grab the triangular stand with QR code using the left arm, then rotate it until the qrcode faces you.", + "Lift the green payment logo on gray top with the left arm, then rotate it to make the qrcode visible.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Use the left arm to lift the small payment stand with black base and rotate it QR code toward you.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Use the left arm to grab the small black stand for payments and rotate the qrcode to face you.", + "Catch the payment sign with angled face with the left arm, then rotate it to make the QR code visible.", + "Take the small payment stand with black base from the table, rotating it QR code toward you.", + "Pick the small black stand for payments up and turn its QR code toward you using the left arm.", + "Using the left arm, catch the green payment logo on gray top and rotate it to face the QR code.", + "Use the left arm to grab the green payment logo on gray top and rotate it until the QR faces forward", + "Find the black base with tilted gray panel, grab it, and turn it towards yourself.", + "Catch the tabletop-sized payment sign, lift it, and rotate it QR code facing.", + "Catch the paymentsign, lift it, and adjust its QR code to face you.", + "Locate the gray slanted panel with text, pick it up, and adjust its angle.", + "Pick the tabletop-sized payment sign up, rotate it, and ensure the QR code faces you.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Lift the small black stand for payments and orient its QR code toward you with the left arm.", + "Lift the payment sign with green logo from the table, turning it QR code forward.", + "Use the left arm to take the gray slanted panel with text and turn it until the QR code faces you", + "Take the payment sign with green logo, raise it, and make the qrcode face you.", + "Pick the payment sign with angled face up, then rotate to make its qrcode visible.", + "Use the left arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Catch the green payment logo on gray top, pick it up, and rotate to show the QR code." + ], + "unseen": [ + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the QR code payment sign and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode41.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..f10a3d982f8ea9bf3f6ee0fadf9b40c4487a52f4 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Employ the right arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Catch the stand-up paymentsign with rectangular top off the table and rotate its qrcode to you.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Lift the beige paymentsign from the table and turn it to face you.", + "Lift the beige paymentsign from the surface and adjust its angle towards you", + "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the right arm.", + "Lift the QR code paymentsign and rotate it until the QR code faces you.", + "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.", + "Use the right arm to take the small paymentsign for mobile payments and turn it until the QR code faces you", + "Lift the paymentsign with blue and white text and rotate for its qrcode to face you.", + "Grab the compact paymentsign for scanning payments, lift it from the table, and rotate it QR front", + "Use the right arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward", + "Catch the paymentsign resting on angled base, lift, and rotate to align the qrcode to you.", + "Lift the small paymentsign for mobile payments with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Use the right arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it towards you", + "Use the right arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Take the rectangular paymentsign with colorful top, lift it, and orient it so the QR faces you", + "Take the paymentsign with blue and white text, raise it, and make the qrcode face you.", + "Use the right arm to grab the paymentsign showing QR code label and point its QR code toward you.", + "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.", + "Use the right arm to pick the rectangular paymentsign with colorful top and turn it towards you.", + "Catch the smooth beige paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Catch the small paymentsign for mobile payments, raise it, and turn it so the QR code faces you", + "Grab the smooth beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the QR code paymentsign with the right arm, then rotate it to make the QR code visible.", + "Catch and lift the paymentsign showing QR code label, then turn it to show the QR code.", + "Locate the compact paymentsign for scanning payments, pick it up, and adjust its angle.", + "Use the right arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Grab the small paymentsign for mobile payments with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the paymentsign with blue and white text from the table and face the qrcode.", + "Catch the beige paymentsign, lift it, and rotate it QR code facing.", + "Grab the compact paymentsign for scanning payments using the right arm, then rotate it until the qrcode faces you.", + "Grab the small paymentsign for mobile payments, pick it up, and turn its qrcode toward you.", + "Using the right arm, catch the stand-up paymentsign with rectangular top and rotate it to face the QR code.", + "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.", + "Use the right arm to grab the smooth beige paymentsign and rotate QR code towards you.", + "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.", + "Slide the paymentsign with tilted rectangular panel off the table and turn it to face you.", + "Take the stand-up paymentsign with rectangular top from the table, rotating it QR code toward you.", + "Pick the beige paymentsign up and turn its QR code toward you using the right arm.", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Lift the beige paymentsign with printed details and rotate until its qrcode faces you.", + "Catch the rectangular paymentsign with colorful top, lift it, and adjust its QR code to face you.", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Catch the compact paymentsign for scanning payments, pick it up, and rotate to view the qrcode.", + "Find the paymentsign resting on angled base, grab it, and turn it towards yourself.", + "Grab the paymentsign with blue and white text using the right arm, lift, and rotate until QR code faces you.", + "Employ the right arm to seize the rectangular paymentsign with colorful top, raise it, and rotate it QR-forward", + "Catch the paymentsign resting on angled base off the table and rotate its qrcode to you.", + "Catch the smooth beige paymentsign, pick it up, and rotate to show the QR code.", + "Lift the QR code paymentsign from the table and turn it to face you.", + "Lift the paymentsign with tilted rectangular panel from the surface and adjust its angle towards you", + "Lift the small paymentsign for mobile payments and orient its QR code toward you with the right arm.", + "Lift the rectangular paymentsign with colorful top and rotate it until the QR code faces you.", + "Pick the paymentsign resting on angled base up, rotate it, and ensure the QR code faces you.", + "Use the right arm to take the paymentsign showing QR code label and turn it until the QR code faces you", + "Lift the smooth beige paymentsign and rotate for its qrcode to face you.", + "Grab the rectangular paymentsign with colorful top, lift it from the table, and rotate it QR front", + "Use the right arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward", + "Catch the paymentsign with blue and white text, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign showing QR code label with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Use the right arm to grab the QR code paymentsign and rotate it until the QR faces forward", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Use the right arm to lift the QR code paymentsign and rotate it QR code toward you.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.", + "Use the right arm to grab the paymentsign resting on angled base and point its QR code toward you.", + "Catch the compact paymentsign for scanning payments, lift it, and turn the qrcode towards you.", + "Use the right arm to pick the paymentsign with tilted rectangular panel and turn it towards you.", + "Catch the paymentsign with tilted rectangular panel using the right arm, pick it up, and turn it to face the QR code.", + "Catch the QR code paymentsign, raise it, and turn it so the QR code faces you", + "Grab the beige paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the beige paymentsign with the right arm, then rotate it to make the QR code visible.", + "Catch and lift the small paymentsign for mobile payments, then turn it to show the QR code.", + "Locate the beige paymentsign with printed details, pick it up, and adjust its angle.", + "Use the right arm to grab the compact paymentsign for scanning payments and rotate the qrcode to face you.", + "Pick up the rectangular paymentsign with colorful top and adjust its position to face the qrcode towards you.", + "Grab the beige paymentsign with the right arm, then rotate it to face yourself.", + "Use the right arm to lift the paymentsign with tilted rectangular panel from the table and face the qrcode.", + "Catch the paymentsign showing QR code label, lift it, and rotate it QR code facing.", + "Grab the paymentsign resting on angled base using the right arm, then rotate it until the qrcode faces you.", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Using the right arm, catch the paymentsign with tilted rectangular panel and rotate it to face the QR code.", + "Lift the small paymentsign for mobile payments from the table and rotate it so the code faces you.", + "Use the right arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Lift the QR code paymentsign from the table, turning it QR code forward.", + "Slide the paymentsign with blue and white text off the table and turn it to face you.", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Pick the paymentsign resting on angled base up and turn its QR code toward you using the right arm.", + "Pick the smooth beige paymentsign up, then rotate to make its qrcode visible.", + "Lift the paymentsign resting on angled base and rotate until its qrcode faces you.", + "Catch the paymentsign with tilted rectangular panel, lift it, and adjust its QR code to face you.", + "Pick up the beige paymentsign with printed details and rotate it so the QR code faces you", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to view the qrcode.", + "Find the beige paymentsign with printed details, grab it, and turn it towards yourself.", + "Grab the beige paymentsign using the right arm, lift, and rotate until QR code faces you." + ], + "unseen": [ + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with QR code off the table using the right arm and rotate it.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the right arm and rotate it.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the right arm and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode42.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..a01a55f2f65c17fa9cac17ba5b3d6d1b44fd9311 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Pick up the smooth beige paymentsign and adjust its position to face the qrcode towards you.", + "Locate the stand-up paymentsign with rectangular top, pick it up, and adjust its angle.", + "Grab the beige paymentsign with printed details with the left arm, then rotate it to face yourself.", + "Use the left arm to grab the rectangular paymentsign with colorful top, lift, and turn it QR code forward", + "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.", + "Pick the QR code paymentsign up and turn its QR code toward you using the left arm.", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the compact paymentsign for scanning payments from the table and rotate it towards you", + "Find the paymentsign with tilted rectangular panel, grab it, and turn it towards yourself.", + "Lift the smooth beige paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Grab the beige paymentsign with printed details using the left arm, then rotate the QR code to face forward.", + "Grab the compact paymentsign for scanning payments, lift it from the table, and rotate it QR front", + "Using the left arm, catch the paymentsign with blue and white text and rotate it to face the QR code.", + "Catch and lift the paymentsign with blue and white text, then turn it to show the QR code.", + "Lift the QR code paymentsign and rotate it until the QR code faces you.", + "Use the left arm to grab the paymentsign with blue and white text and rotate the qrcode to face you.", + "Grab the QR code paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the paymentsign showing QR code label and point its QR code toward you.", + "Lift the compact paymentsign for scanning payments from the table and turn it to face you.", + "Use the left arm to take the QR code paymentsign and turn it until the QR code faces you", + "Catch the paymentsign with blue and white text, pick it up, and rotate to show the QR code.", + "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.", + "Catch the stand-up paymentsign with rectangular top, raise it, and turn it so the QR code faces you", + "Pick up the smooth beige paymentsign and rotate it so the QR code faces you", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Catch the paymentsign with blue and white text with the left arm, then rotate it to make the QR code visible.", + "Lift the paymentsign with tilted rectangular panel and orient its QR code toward you with the left arm.", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Use the left arm to lift the compact paymentsign for scanning payments from the table and face the qrcode.", + "Take the paymentsign resting on angled base, lift it, and orient it so the QR faces you", + "Use the left arm to grab the paymentsign with blue and white text and rotate QR code towards you.", + "Lift the beige paymentsign from the table and rotate it so the code faces you.", + "Catch the rectangular paymentsign with colorful top, lift it, and rotate it QR code facing.", + "Catch the small paymentsign for mobile payments off the table and rotate its qrcode to you.", + "Catch the small paymentsign for mobile payments, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate it until the QR faces forward", + "Grab the stand-up paymentsign with rectangular top using the left arm, lift, and rotate until QR code faces you.", + "Lift the paymentsign with tilted rectangular panel from the surface and adjust its angle towards you", + "Use the left arm to lift the beige paymentsign with printed details and rotate it QR code toward you.", + "Take the compact paymentsign for scanning payments, raise it, and make the qrcode face you.", + "Catch the QR code paymentsign, lift it, and adjust its QR code to face you.", + "Catch the beige paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to pick the paymentsign with blue and white text and turn it towards you.", + "Employ the left arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Catch the QR code paymentsign, lift it, and turn the qrcode towards you.", + "Lift the beige paymentsign with printed details from the table, turning it QR code forward.", + "Take the small paymentsign for mobile payments from the table, rotating it QR code toward you.", + "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.", + "Use the left arm to grab the beige paymentsign with printed details, rotate, and face the QR code towards you.", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Locate the small paymentsign for mobile payments, pick it up, and adjust its angle.", + "Grab the small paymentsign for mobile payments with the left arm, then rotate it to face yourself.", + "Use the left arm to grab the beige paymentsign, lift, and turn it QR code forward", + "Catch the small paymentsign for mobile payments, lift, and rotate to align the qrcode to you.", + "Pick the stand-up paymentsign with rectangular top up and turn its QR code toward you using the left arm.", + "Slide the compact paymentsign for scanning payments off the table and turn it to face you.", + "Pick the beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the small paymentsign for mobile payments from the table and rotate it towards you", + "Find the compact paymentsign for scanning payments, grab it, and turn it towards yourself.", + "Lift the QR code paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Grab the paymentsign showing QR code label using the left arm, then rotate the QR code to face forward.", + "Grab the small paymentsign for mobile payments, lift it from the table, and rotate it QR front", + "Using the left arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code.", + "Catch and lift the smooth beige paymentsign, then turn it to show the QR code.", + "Lift the small paymentsign for mobile payments and rotate it until the QR code faces you.", + "Use the left arm to grab the compact paymentsign for scanning payments and rotate the qrcode to face you.", + "Grab the smooth beige paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the paymentsign resting on angled base and point its QR code toward you.", + "Lift the small paymentsign for mobile payments from the table and turn it to face you.", + "Use the left arm to take the paymentsign resting on angled base and turn it until the QR code faces you", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to show the QR code.", + "Lift the stand-up paymentsign with rectangular top and rotate for its qrcode to face you.", + "Catch the paymentsign with tilted rectangular panel, raise it, and turn it so the QR code faces you", + "Pick up the stand-up paymentsign with rectangular top and rotate it so the QR code faces you", + "Pick the QR code paymentsign up, then rotate to make its qrcode visible.", + "Catch the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the QR code visible.", + "Lift the smooth beige paymentsign and orient its QR code toward you with the left arm.", + "Grab the paymentsign with blue and white text, pick it up, and turn its qrcode toward you.", + "Use the left arm to lift the paymentsign with tilted rectangular panel from the table and face the qrcode.", + "Take the paymentsign showing QR code label, lift it, and orient it so the QR faces you", + "Use the left arm to grab the beige paymentsign and rotate QR code towards you.", + "Lift the beige paymentsign from the table and rotate it so the code faces you.", + "Catch the compact paymentsign for scanning payments, lift it, and rotate it QR code facing.", + "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Grab the stand-up paymentsign with rectangular top using the left arm, lift, and rotate until QR code faces you.", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Use the left arm to lift the stand-up paymentsign with rectangular top and rotate it QR code toward you.", + "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.", + "Catch the paymentsign with blue and white text, lift it, and adjust its QR code to face you.", + "Catch the smooth beige paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to pick the compact paymentsign for scanning payments and turn it towards you.", + "Employ the left arm to seize the paymentsign with tilted rectangular panel, raise it, and rotate it QR-forward", + "Catch the stand-up paymentsign with rectangular top, lift it, and turn the qrcode towards you.", + "Lift the small paymentsign for mobile payments from the table, turning it QR code forward.", + "Take the QR code paymentsign from the table, rotating it QR code toward you.", + "Lift the beige paymentsign with printed details and rotate until its qrcode faces you." + ], + "unseen": [ + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode43.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..eb0cfb1877b4023969ef430c250feefcbabacaaa --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the black base with tilted gray panel and rotate until its qrcode faces you.", + "Pick the small payment stand with black base up and turn its QR code toward you using the left arm.", + "Catch the gray top with QR code with the left arm, then rotate it to make the QR code visible.", + "Grab the slanted gray panel for QR code scan with the left arm, then rotate it to face yourself.", + "Grab the gray slanted panel with text using the left arm, then rotate the QR code to face forward.", + "Slide the small payment stand with black base off the table and turn it to face you.", + "Use the left arm to grab the green payment logo on gray top and point its QR code toward you.", + "Employ the left arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Catch the paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the green payment logo on gray top and rotate it QR code toward you.", + "Use the left arm to grab the small payment stand with black base and rotate QR code towards you.", + "Pick up the triangular stand with QR code and rotate it so the QR code faces you", + "Take the small payment stand with black base, raise it, and make the qrcode face you.", + "Lift the payment sign with angled face from the table and rotate it towards you", + "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Catch the gray slanted panel with text, lift it, and adjust its QR code to face you.", + "Lift the green payment logo on gray top and rotate for its qrcode to face you.", + "Locate the black base with tilted gray panel, pick it up, and adjust its angle.", + "Use the left arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Find the gray top with QR code, grab it, and turn it towards yourself.", + "Catch the gray slanted panel with text, lift it, and rotate it QR code facing.", + "Take the payment sign with green logo, lift it, and orient it so the QR faces you", + "Lift the tabletop-sized payment sign and orient its QR code toward you with the left arm.", + "Catch the payment sign with green logo, lift it, and turn the qrcode towards you.", + "Use the left arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Grab the gray top with QR code, pick it up, and turn its qrcode toward you.", + "Lift the black base with tilted gray panel from the table, turning it QR code forward.", + "Use the left arm to grab the triangular stand with QR code, rotate, and face the QR code towards you.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Use the left arm to lift the gray top with QR code from the table and face the qrcode.", + "Use the left arm to grab the tabletop-sized payment sign and rotate the qrcode to face you.", + "Grab the payment sign with green logo, lift it from the table, and rotate it QR front", + "Grab the slanted gray panel for QR code scan using the left arm, lift, and rotate until QR code faces you.", + "Using the left arm, catch the payment sign with green logo and rotate it to face the QR code.", + "Catch the black base with tilted gray panel, pick it up, and rotate to show the QR code.", + "Lift the payment sign with angled face with the left arm, then rotate it to make the qrcode visible.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch and lift the green payment logo on gray top, then turn it to show the QR code.", + "Grab the payment sign with green logo using the left arm, then rotate it until the qrcode faces you.", + "Lift the slanted gray panel for QR code scan and rotate it until the QR code faces you.", + "Catch the gray slanted panel with text using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to pick the black base with tilted gray panel and turn it towards you.", + "Use the left arm to grab the green payment logo on gray top and rotate it until the QR faces forward", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Lift the payment sign with angled face from the table and turn it to face you.", + "Catch the payment sign with angled face, lift, and rotate to align the qrcode to you.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Catch the gray slanted panel with text with the left arm, then rotate it to make the QR code visible.", + "Grab the green payment logo on gray top with the left arm, then rotate it to face yourself.", + "Grab the tabletop-sized payment sign using the left arm, then rotate the QR code to face forward.", + "Slide the black base with tilted gray panel off the table and turn it to face you.", + "Use the left arm to grab the gray top with QR code and point its QR code toward you.", + "Employ the left arm to seize the small black stand for payments, raise it, and rotate it QR-forward", + "Catch the triangular stand with QR code, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the gray top with QR code and rotate it QR code toward you.", + "Use the left arm to grab the small black stand for payments and rotate QR code towards you.", + "Pick up the payment sign with angled face and rotate it so the QR code faces you", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Lift the gray slanted panel with text from the table and rotate it towards you", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Lift the tabletop-sized payment sign from the surface and adjust its angle towards you", + "Catch the tabletop-sized payment sign off the table and rotate its qrcode to you.", + "Catch the slanted gray panel for QR code scan, lift it, and adjust its QR code to face you.", + "Lift the small payment stand with black base and rotate for its qrcode to face you.", + "Locate the tabletop-sized payment sign, pick it up, and adjust its angle.", + "Use the left arm to grab the triangular stand with QR code, lift, and turn it QR code forward", + "Find the slanted gray panel for QR code scan, grab it, and turn it towards yourself.", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Take the slanted gray panel for QR code scan, lift it, and orient it so the QR faces you", + "Lift the triangular stand with QR code and orient its QR code toward you with the left arm.", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Use the left arm to take the triangular stand with QR code and turn it until the QR code faces you", + "Pick the gray slanted panel with text up, then rotate to make its qrcode visible.", + "Grab the black base with tilted gray panel, pick it up, and turn its qrcode toward you.", + "Lift the triangular stand with QR code from the table, turning it QR code forward.", + "Use the left arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Use the left arm to lift the payment sign with angled face from the table and face the qrcode.", + "Use the left arm to grab the slanted gray panel for QR code scan and rotate the qrcode to face you.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Grab the payment sign with green logo using the left arm, lift, and rotate until QR code faces you.", + "Using the left arm, catch the triangular stand with QR code and rotate it to face the QR code.", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.", + "Lift the black base with tilted gray panel with the left arm, then rotate it to make the qrcode visible.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Catch and lift the tabletop-sized payment sign, then turn it to show the QR code.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Lift the payment sign with green logo and rotate it until the QR code faces you.", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to pick the slanted gray panel for QR code scan and turn it towards you.", + "Use the left arm to grab the gray top with QR code and rotate it until the QR faces forward", + "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.", + "Lift the green payment logo on gray top from the table and turn it to face you.", + "Catch the gray slanted panel with text, lift, and rotate to align the qrcode to you." + ], + "unseen": [ + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode44.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..8e082d3117468c72aadd0a3934a6a40ead2d5579 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.", + "Slide the stand-up paymentsign with rectangular top off the table and turn it to face you.", + "Grab the small paymentsign for mobile payments using the left arm, then rotate it until the qrcode faces you.", + "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign with tilted rectangular panel and rotate for its qrcode to face you.", + "Lift the rectangular paymentsign with colorful top from the table and rotate it towards you", + "Pick the small paymentsign for mobile payments up, then rotate to make its qrcode visible.", + "Catch the rectangular paymentsign with colorful top with the left arm, then rotate it to make the QR code visible.", + "Catch the paymentsign showing QR code label using the left arm, pick it up, and turn it to face the QR code.", + "Employ the left arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Lift the paymentsign with blue and white text with the left arm, then rotate it to make the qrcode visible.", + "Catch and lift the QR code paymentsign, then turn it to show the QR code.", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the beige paymentsign with printed details and rotate it until the QR faces forward", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.", + "Grab the QR code paymentsign, pick it up, and turn its qrcode toward you.", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Lift the beige paymentsign with printed details and rotate it until the QR code faces you.", + "Lift the paymentsign showing QR code label from the table, turning it QR code forward.", + "Find the beige paymentsign with printed details, grab it, and turn it towards yourself.", + "Lift the paymentsign with tilted rectangular panel from the table and turn it to face you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel, lift, and turn it QR code forward", + "Catch the paymentsign resting on angled base, raise it, and turn it so the QR code faces you", + "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you", + "Use the left arm to lift the beige paymentsign from the table and face the qrcode.", + "Locate the beige paymentsign with printed details, pick it up, and adjust its angle.", + "Catch the rectangular paymentsign with colorful top, lift it, and rotate it QR code facing.", + "Pick the QR code paymentsign up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the paymentsign showing QR code label and point its QR code toward you.", + "Catch the paymentsign resting on angled base, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate the qrcode to face you.", + "Grab the compact paymentsign for scanning payments using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the beige paymentsign and rotate it QR code toward you.", + "Catch the paymentsign with blue and white text off the table and rotate its qrcode to you.", + "Use the left arm to grab the small paymentsign for mobile payments and rotate QR code towards you.", + "Take the paymentsign resting on angled base from the table, rotating it QR code toward you.", + "Use the left arm to take the rectangular paymentsign with colorful top and turn it until the QR code faces you", + "Use the left arm to pick the compact paymentsign for scanning payments and turn it towards you.", + "Grab the QR code paymentsign using the left arm, then rotate the QR code to face forward.", + "Grab the smooth beige paymentsign with the left arm, then rotate it to face yourself.", + "Lift the compact paymentsign for scanning payments and rotate until its qrcode faces you.", + "Lift the paymentsign resting on angled base from the table and rotate it so the code faces you.", + "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign showing QR code label and orient its QR code toward you with the left arm.", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Take the paymentsign with blue and white text, lift it, and orient it so the QR faces you", + "Use the left arm to grab the beige paymentsign, rotate, and face the QR code towards you.", + "Grab the beige paymentsign, lift it from the table, and rotate it QR front", + "Using the left arm, catch the QR code paymentsign and rotate it to face the QR code.", + "Catch the paymentsign resting on angled base, lift it, and adjust its QR code to face you.", + "Slide the paymentsign with blue and white text off the table and turn it to face you.", + "Grab the QR code paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Pick the smooth beige paymentsign up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign resting on angled base and rotate for its qrcode to face you.", + "Lift the small paymentsign for mobile payments from the table and rotate it towards you", + "Pick the smooth beige paymentsign up, then rotate to make its qrcode visible.", + "Catch the rectangular paymentsign with colorful top with the left arm, then rotate it to make the QR code visible.", + "Catch the beige paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Employ the left arm to seize the paymentsign with blue and white text, raise it, and rotate it QR-forward", + "Lift the stand-up paymentsign with rectangular top with the left arm, then rotate it to make the qrcode visible.", + "Catch and lift the paymentsign showing QR code label, then turn it to show the QR code.", + "Pick up the small paymentsign for mobile payments and adjust its position to face the qrcode towards you.", + "Use the left arm to grab the paymentsign resting on angled base and rotate it until the QR faces forward", + "Lift the compact paymentsign for scanning payments from the surface and adjust its angle towards you", + "Take the rectangular paymentsign with colorful top, raise it, and make the qrcode face you.", + "Grab the paymentsign resting on angled base, pick it up, and turn its qrcode toward you.", + "Catch the rectangular paymentsign with colorful top, lift it, and turn the qrcode towards you.", + "Lift the paymentsign resting on angled base and rotate it until the QR code faces you.", + "Lift the paymentsign resting on angled base from the table, turning it QR code forward.", + "Find the stand-up paymentsign with rectangular top, grab it, and turn it towards yourself.", + "Lift the paymentsign resting on angled base from the table and turn it to face you.", + "Use the left arm to grab the beige paymentsign with printed details, lift, and turn it QR code forward", + "Catch the paymentsign showing QR code label, raise it, and turn it so the QR code faces you", + "Pick up the rectangular paymentsign with colorful top and rotate it so the QR code faces you", + "Use the left arm to lift the paymentsign with blue and white text from the table and face the qrcode.", + "Locate the small paymentsign for mobile payments, pick it up, and adjust its angle.", + "Catch the compact paymentsign for scanning payments, lift it, and rotate it QR code facing.", + "Pick the rectangular paymentsign with colorful top up and turn its QR code toward you using the left arm.", + "Use the left arm to grab the small paymentsign for mobile payments and point its QR code toward you.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to show the QR code.", + "Use the left arm to grab the paymentsign resting on angled base and rotate the qrcode to face you.", + "Grab the smooth beige paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the small paymentsign for mobile payments and rotate it QR code toward you.", + "Catch the small paymentsign for mobile payments off the table and rotate its qrcode to you.", + "Use the left arm to grab the beige paymentsign and rotate QR code towards you.", + "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.", + "Use the left arm to take the QR code paymentsign and turn it until the QR code faces you", + "Use the left arm to pick the paymentsign resting on angled base and turn it towards you.", + "Grab the small paymentsign for mobile payments using the left arm, then rotate the QR code to face forward.", + "Grab the paymentsign resting on angled base with the left arm, then rotate it to face yourself.", + "Lift the beige paymentsign with printed details and rotate until its qrcode faces you.", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it so the code faces you.", + "Catch the beige paymentsign, lift, and rotate to align the qrcode to you.", + "Lift the paymentsign with blue and white text and orient its QR code toward you with the left arm.", + "Catch the smooth beige paymentsign, pick it up, and rotate to view the qrcode.", + "Take the beige paymentsign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the small paymentsign for mobile payments, rotate, and face the QR code towards you.", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Using the left arm, catch the compact paymentsign for scanning payments and rotate it to face the QR code." + ], + "unseen": [ + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode45.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..7fc550b9ce11891e1d7fdb6230b2a5008c7e69e5 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the rectangular plastic paymentsign with codes and orient its QR code toward you with the right arm.", + "Use the right arm to grab the paymentsign for scanning QR codes, lift, and turn it QR code forward", + "Pick up the small glossy paymentsign and rotate it so the QR code faces you", + "Grab the tabletop paymentsign using the right arm, lift, and rotate until QR code faces you.", + "Grab the rectangular plastic paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the blue and white paymentsign, lift it, and turn the qrcode towards you.", + "Find the blue and white rectangular paymentsign, grab it, and turn it towards yourself.", + "Use the right arm to grab the small glossy paymentsign, rotate, and face the QR code towards you.", + "Lift the paymentsign for scanning QR codes from the surface and adjust its angle towards you", + "Use the right arm to grab the paymentsign with printed QR codes and rotate QR code towards you.", + "Lift the paymentsign for scanning QR codes and rotate until its qrcode faces you.", + "Grab the tabletop paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the paymentsign with printed QR codes with the right arm, then rotate it to make the qrcode visible.", + "Catch the paymentsign with angled black stand, raise it, and turn it so the QR code faces you", + "Catch the tabletop paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Lift the paymentsign for scanning QR codes from the table and rotate it so the code faces you.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to show the QR code.", + "Catch the paymentsign with printed QR codes, lift it, and rotate it QR code facing.", + "Lift the smooth surface paymentsign and rotate it until the QR code faces you.", + "Slide the paymentsign with angled black stand off the table and turn it to face you.", + "Pick the rectangular plastic paymentsign up and turn its QR code toward you using the right arm.", + "Locate the blue and white rectangular paymentsign, pick it up, and adjust its angle.", + "Grab the small glossy paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the paymentsign with angled black stand and point its QR code toward you.", + "Take the paymentsign for scanning QR codes from the table, rotating it QR code toward you.", + "Use the right arm to take the small paymentsign with stand and turn it until the QR code faces you", + "Using the right arm, catch the small glossy paymentsign and rotate it to face the QR code.", + "Pick the blue and white paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the right arm to pick the blue and white rectangular paymentsign and turn it towards you.", + "Lift the paymentsign with glossy blue panel and rotate for its qrcode to face you.", + "Grab the rectangular plastic paymentsign, lift it from the table, and rotate it QR front", + "Catch the smooth surface paymentsign off the table and rotate its qrcode to you.", + "Pick up the blue and white paymentsign and adjust its position to face the qrcode towards you.", + "Employ the right arm to seize the blue and white rectangular paymentsign, raise it, and rotate it QR-forward", + "Catch the blue and white rectangular paymentsign, lift, and rotate to align the qrcode to you.", + "Catch and lift the smooth surface paymentsign, then turn it to show the QR code.", + "Use the right arm to lift the paymentsign with glossy blue panel from the table and face the qrcode.", + "Catch the small paymentsign with stand, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the blue and white rectangular paymentsign and rotate it until the QR faces forward", + "Take the smooth surface paymentsign, raise it, and make the qrcode face you.", + "Lift the paymentsign with glossy blue panel from the table, turning it QR code forward.", + "Take the blue and white rectangular paymentsign, lift it, and orient it so the QR faces you", + "Lift the smooth surface paymentsign from the table and turn it to face you.", + "Pick the paymentsign with angled black stand up, then rotate to make its qrcode visible.", + "Catch the small glossy paymentsign with the right arm, then rotate it to make the QR code visible.", + "Grab the blue and white paymentsign with the right arm, then rotate it to face yourself.", + "Lift the rectangular plastic paymentsign with codes from the table and rotate it towards you", + "Use the right arm to grab the paymentsign with printed QR codes and rotate the qrcode to face you.", + "Use the right arm to lift the paymentsign with printed QR codes and rotate it QR code toward you.", + "Catch the paymentsign with glossy blue panel, pick it up, and rotate to view the qrcode.", + "Lift the blue and white rectangular paymentsign and orient its QR code toward you with the right arm.", + "Use the right arm to grab the rectangular plastic paymentsign with codes, lift, and turn it QR code forward", + "Pick up the small paymentsign with stand and rotate it so the QR code faces you", + "Grab the rectangular plastic paymentsign with codes using the right arm, lift, and rotate until QR code faces you.", + "Grab the tabletop paymentsign using the right arm, then rotate the QR code to face forward.", + "Catch the rectangular plastic paymentsign with codes, lift it, and turn the qrcode towards you.", + "Find the rectangular plastic paymentsign with codes, grab it, and turn it towards yourself.", + "Use the right arm to grab the rectangular plastic paymentsign with codes, rotate, and face the QR code towards you.", + "Lift the paymentsign with angled black stand from the surface and adjust its angle towards you", + "Use the right arm to grab the small glossy paymentsign and rotate QR code towards you.", + "Lift the rectangular plastic paymentsign and rotate until its qrcode faces you.", + "Grab the smooth surface paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Lift the blue and white paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Catch the smooth surface paymentsign, raise it, and turn it so the QR code faces you", + "Catch the blue and white paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Lift the blue and white paymentsign from the table and rotate it so the code faces you.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to show the QR code.", + "Catch the tabletop paymentsign, lift it, and rotate it QR code facing.", + "Lift the small glossy paymentsign and rotate it until the QR code faces you.", + "Slide the blue and white paymentsign off the table and turn it to face you.", + "Pick the small glossy paymentsign up and turn its QR code toward you using the right arm.", + "Locate the paymentsign with glossy blue panel, pick it up, and adjust its angle.", + "Grab the blue and white rectangular paymentsign, pick it up, and turn its qrcode toward you.", + "Use the right arm to grab the paymentsign with printed QR codes and point its QR code toward you.", + "Take the paymentsign for scanning QR codes from the table, rotating it QR code toward you.", + "Use the right arm to take the paymentsign with printed QR codes and turn it until the QR code faces you", + "Using the right arm, catch the tabletop paymentsign and rotate it to face the QR code.", + "Pick the paymentsign for scanning QR codes up, rotate it, and ensure the QR code faces you.", + "Use the right arm to pick the blue and white paymentsign and turn it towards you.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Grab the paymentsign with printed QR codes, lift it from the table, and rotate it QR front", + "Catch the smooth surface paymentsign off the table and rotate its qrcode to you.", + "Pick up the smooth surface paymentsign and adjust its position to face the qrcode towards you.", + "Employ the right arm to seize the paymentsign with glossy blue panel, raise it, and rotate it QR-forward", + "Catch the tabletop paymentsign, lift, and rotate to align the qrcode to you.", + "Catch and lift the small paymentsign with stand, then turn it to show the QR code.", + "Use the right arm to lift the rectangular plastic paymentsign with codes from the table and face the qrcode.", + "Catch the paymentsign with printed QR codes, lift it, and adjust its QR code to face you.", + "Use the right arm to grab the paymentsign for scanning QR codes and rotate it until the QR faces forward", + "Take the blue and white rectangular paymentsign, raise it, and make the qrcode face you.", + "Lift the blue and white paymentsign from the table, turning it QR code forward.", + "Take the paymentsign with printed QR codes, lift it, and orient it so the QR faces you", + "Lift the small glossy paymentsign from the table and turn it to face you.", + "Pick the blue and white rectangular paymentsign up, then rotate to make its qrcode visible.", + "Catch the small paymentsign with stand with the right arm, then rotate it to make the QR code visible.", + "Grab the paymentsign with printed QR codes with the right arm, then rotate it to face yourself.", + "Lift the tabletop paymentsign from the table and rotate it towards you", + "Use the right arm to grab the small glossy paymentsign and rotate the qrcode to face you.", + "Use the right arm to lift the paymentsign with angled black stand and rotate it QR code toward you.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to view the qrcode." + ], + "unseen": [ + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with angled support bars off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with black metal stand off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the QR code paymentsign on the table and pick it up.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code paymentsign off the table using the right arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode46.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..1833279a6840353934eaf4dd95ca7eaa8693eba0 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the tabletop paymentsign and rotate it so the QR code faces you", + "Lift the white stand sign and rotate it until the QR code faces you.", + "Find the white paymentsign with raised base, grab it, and turn it towards yourself.", + "Take the yellow panel white paymentsign from the table, rotating it QR code toward you.", + "Pick the yellow panel white paymentsign up, then rotate to make its qrcode visible.", + "Use the right arm to grab the plastic smooth paymentsign, rotate, and face the QR code towards you.", + "Lift the white stand sign from the table and rotate it towards you", + "Take the white stand sign, raise it, and make the qrcode face you.", + "Use the right arm to lift the paymentsign from the table and face the qrcode.", + "Grab the white stand sign with the right arm, then rotate it to face yourself.", + "Lift the paymentsign from the surface and adjust its angle towards you", + "Catch the white rectangular paymentsign with yellow details with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the rectangular paymentsign with stand and rotate it until the QR faces forward", + "Use the right arm to take the white paymentsign with raised base and turn it until the QR code faces you", + "Lift the rectangular paymentsign with stand from the table, turning it QR code forward.", + "Lift the yellow panel white paymentsign with the right arm, then rotate it to make the qrcode visible.", + "Grab the yellow and white payment display, pick it up, and turn its qrcode toward you.", + "Lift the plastic smooth paymentsign from the table and turn it to face you.", + "Pick the smooth plastic paymentsign with QR code up and turn its QR code toward you using the right arm.", + "Lift the paymentsign with QR code area and orient its QR code toward you with the right arm.", + "Use the right arm to grab the smooth plastic paymentsign with QR code and rotate the qrcode to face you.", + "Catch the white paymentsign with raised base, pick it up, and rotate to view the qrcode.", + "Use the right arm to pick the yellow panel white paymentsign and turn it towards you.", + "Lift the white stand sign and rotate for its qrcode to face you.", + "Grab the yellow panel white paymentsign using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to lift the tabletop paymentsign and rotate it QR code toward you.", + "Use the right arm to grab the tabletop paymentsign, lift, and turn it QR code forward", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Catch and lift the yellow panel white paymentsign, then turn it to show the QR code.", + "Catch the white paymentsign with raised base, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the tabletop paymentsign and point its QR code toward you.", + "Catch the rectangular paymentsign with stand off the table and rotate its qrcode to you.", + "Grab the paymentsign with QR code area, lift it from the table, and rotate it QR front", + "Catch the white paymentsign with raised base, pick it up, and rotate to show the QR code.", + "Pick the yellow and white payment display up, rotate it, and ensure the QR code faces you.", + "Catch the yellow and white payment display, lift it, and adjust its QR code to face you.", + "Catch the white rectangular paymentsign with yellow details, raise it, and turn it so the QR code faces you", + "Grab the yellow and white payment display using the right arm, lift, and rotate until QR code faces you.", + "Using the right arm, catch the white stand sign and rotate it to face the QR code.", + "Use the right arm to grab the white rectangular paymentsign with yellow details and rotate QR code towards you.", + "Lift the sign with yellow payment section from the table and rotate it so the code faces you.", + "Grab the smooth plastic paymentsign with QR code using the right arm, then rotate the QR code to face forward.", + "Slide the smooth plastic paymentsign with QR code off the table and turn it to face you.", + "Locate the white rectangular paymentsign with yellow details, pick it up, and adjust its angle.", + "Employ the right arm to seize the white paymentsign with raised base, raise it, and rotate it QR-forward", + "Catch the white paymentsign with raised base, lift, and rotate to align the qrcode to you.", + "Pick up the paymentsign with QR code area and adjust its position to face the qrcode towards you.", + "Catch the paymentsign with QR code area, lift it, and rotate it QR code facing.", + "Lift the paymentsign with QR code area and rotate until its qrcode faces you.", + "Catch the tabletop paymentsign using the right arm, pick it up, and turn it to face the QR code.", + "Pick up the yellow panel white paymentsign and rotate it so the QR code faces you", + "Lift the white rectangular paymentsign with yellow details and rotate it until the QR code faces you.", + "Find the rectangular paymentsign with stand, grab it, and turn it towards yourself.", + "Take the white paymentsign with raised base from the table, rotating it QR code toward you.", + "Pick the tabletop paymentsign up, then rotate to make its qrcode visible.", + "Use the right arm to grab the rectangular paymentsign with stand, rotate, and face the QR code towards you.", + "Lift the paymentsign with QR code area from the table and rotate it towards you", + "Take the yellow panel white paymentsign, raise it, and make the qrcode face you.", + "Use the right arm to lift the paymentsign from the table and face the qrcode.", + "Grab the white paymentsign with raised base with the right arm, then rotate it to face yourself.", + "Lift the smooth plastic paymentsign with QR code from the surface and adjust its angle towards you", + "Catch the yellow and white payment display with the right arm, then rotate it to make the QR code visible.", + "Use the right arm to grab the plastic smooth paymentsign and rotate it until the QR faces forward", + "Use the right arm to take the yellow panel white paymentsign and turn it until the QR code faces you", + "Lift the yellow panel white paymentsign from the table, turning it QR code forward.", + "Lift the rectangular paymentsign with stand with the right arm, then rotate it to make the qrcode visible.", + "Grab the white rectangular paymentsign with yellow details, pick it up, and turn its qrcode toward you.", + "Lift the yellow panel white paymentsign from the table and turn it to face you.", + "Pick the smooth plastic paymentsign with QR code up and turn its QR code toward you using the right arm.", + "Lift the rectangular paymentsign with stand and orient its QR code toward you with the right arm.", + "Use the right arm to grab the paymentsign with QR code area and rotate the qrcode to face you.", + "Catch the tabletop paymentsign, pick it up, and rotate to view the qrcode.", + "Use the right arm to pick the plastic smooth paymentsign and turn it towards you.", + "Lift the yellow panel white paymentsign and rotate for its qrcode to face you.", + "Grab the smooth plastic paymentsign with QR code using the right arm, then rotate it until the qrcode faces you.", + "Use the right arm to lift the white stand sign and rotate it QR code toward you.", + "Use the right arm to grab the rectangular paymentsign with stand, lift, and turn it QR code forward", + "Take the yellow panel white paymentsign, lift it, and orient it so the QR faces you", + "Catch and lift the rectangular paymentsign with stand, then turn it to show the QR code.", + "Catch the white rectangular paymentsign with yellow details, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the plastic smooth paymentsign and point its QR code toward you.", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Grab the white rectangular paymentsign with yellow details, lift it from the table, and rotate it QR front", + "Catch the white stand sign, pick it up, and rotate to show the QR code.", + "Pick the plastic smooth paymentsign up, rotate it, and ensure the QR code faces you.", + "Catch the tabletop paymentsign, lift it, and adjust its QR code to face you.", + "Catch the plastic smooth paymentsign, raise it, and turn it so the QR code faces you", + "Grab the yellow and white payment display using the right arm, lift, and rotate until QR code faces you.", + "Using the right arm, catch the tabletop paymentsign and rotate it to face the QR code.", + "Use the right arm to grab the yellow panel white paymentsign and rotate QR code towards you.", + "Lift the white rectangular paymentsign with yellow details from the table and rotate it so the code faces you.", + "Grab the white paymentsign with raised base using the right arm, then rotate the QR code to face forward.", + "Slide the tabletop paymentsign off the table and turn it to face you.", + "Locate the yellow and white payment display, pick it up, and adjust its angle.", + "Employ the right arm to seize the sign with yellow payment section, raise it, and rotate it QR-forward", + "Catch the tabletop paymentsign, lift, and rotate to align the qrcode to you.", + "Pick up the white rectangular paymentsign with yellow details and adjust its position to face the qrcode towards you.", + "Catch the smooth plastic paymentsign with QR code, lift it, and rotate it QR code facing.", + "Lift the white rectangular paymentsign with yellow details and rotate until its qrcode faces you.", + "Catch the yellow panel white paymentsign using the right arm, pick it up, and turn it to face the QR code." + ], + "unseen": [ + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the sign for payment processing on the table and pick it up.", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the paymentsign with smooth base stand off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick up the sign for payment processing and rotate it facing you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Catch the sign for payment processing from the table and make it face you.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Pick the sign for payment processing off the table using the right arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the sign for payment processing and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode47.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..2e51f37d9b1c3a4b22f90a6eced5becd3179eded --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the tabletop-sized payment sign and rotate the qrcode to face you.", + "Grab the small black stand for payments using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the green payment logo on gray top and rotate it QR code toward you.", + "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front", + "Use the left arm to pick the small black stand for payments and turn it towards you.", + "Pick up the black base with tilted gray panel and adjust its position to face the qrcode towards you.", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Pick the green payment logo on gray top up, then rotate to make its qrcode visible.", + "Lift the small black stand for payments and orient its QR code toward you with the left arm.", + "Use the left arm to grab the gray top with QR code and point its QR code toward you.", + "Take the small black stand for payments from the table, rotating it QR code toward you.", + "Catch the gray top with QR code, lift it, and turn the qrcode towards you.", + "Find the payment sign with angled face, grab it, and turn it towards yourself.", + "Lift the paymentsign from the table and rotate it towards you", + "Using the left arm, catch the triangular stand with QR code and rotate it to face the QR code.", + "Pick the paymentsign up and turn its QR code toward you using the left arm.", + "Grab the small black stand for payments, pick it up, and turn its qrcode toward you.", + "Catch the gray slanted panel with text, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the payment sign with angled face, lift, and turn it QR code forward", + "Pick up the small payment stand with black base and rotate it so the QR code faces you", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Catch and lift the tabletop-sized payment sign, then turn it to show the QR code.", + "Catch the green payment logo on gray top, lift, and rotate to align the qrcode to you.", + "Locate the green payment logo on gray top, pick it up, and adjust its angle.", + "Lift the paymentsign from the table and turn it to face you.", + "Grab the tabletop-sized payment sign using the left arm, then rotate it until the qrcode faces you.", + "Catch the gray slanted panel with text, pick it up, and rotate to view the qrcode.", + "Catch the slanted gray panel for QR code scan with the left arm, then rotate it to make the QR code visible.", + "Catch the small payment stand with black base off the table and rotate its qrcode to you.", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the triangular stand with QR code and rotate QR code towards you.", + "Lift the small payment stand with black base and rotate until its qrcode faces you.", + "Use the left arm to take the black base with tilted gray panel and turn it until the QR code faces you", + "Use the left arm to grab the gray slanted panel with text, rotate, and face the QR code towards you.", + "Lift the gray top with QR code from the table and rotate it so the code faces you.", + "Employ the left arm to seize the paymentsign, raise it, and rotate it QR-forward", + "Lift the small payment stand with black base and rotate it until the QR code faces you.", + "Lift the black base with tilted gray panel from the surface and adjust its angle towards you", + "Lift the black base with tilted gray panel from the table, turning it QR code forward.", + "Lift the black base with tilted gray panel with the left arm, then rotate it to make the qrcode visible.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Use the left arm to lift the small black stand for payments from the table and face the qrcode.", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Grab the green payment logo on gray top with the left arm, then rotate it to face yourself.", + "Catch the small payment stand with black base, lift it, and rotate it QR code facing.", + "Slide the small black stand for payments off the table and turn it to face you.", + "Catch the tabletop-sized payment sign, raise it, and turn it so the QR code faces you", + "Grab the gray top with QR code using the left arm, then rotate the QR code to face forward.", + "Pick the gray slanted panel with text up, rotate it, and ensure the QR code faces you.", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Grab the small payment stand with black base using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to lift the payment sign with angled face and rotate it QR code toward you.", + "Grab the green payment logo on gray top, lift it from the table, and rotate it QR front", + "Use the left arm to pick the payment sign with green logo and turn it towards you.", + "Pick up the green payment logo on gray top and adjust its position to face the qrcode towards you.", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Pick the payment sign with angled face up, then rotate to make its qrcode visible.", + "Lift the payment sign with green logo and orient its QR code toward you with the left arm.", + "Use the left arm to grab the paymentsign and point its QR code toward you.", + "Take the payment sign with angled face from the table, rotating it QR code toward you.", + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Find the black base with tilted gray panel, grab it, and turn it towards yourself.", + "Lift the gray slanted panel with text from the table and rotate it towards you", + "Using the left arm, catch the tabletop-sized payment sign and rotate it to face the QR code.", + "Pick the triangular stand with QR code up and turn its QR code toward you using the left arm.", + "Grab the green payment logo on gray top, pick it up, and turn its qrcode toward you.", + "Catch the small payment stand with black base, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the small payment stand with black base, lift, and turn it QR code forward", + "Pick up the small black stand for payments and rotate it so the QR code faces you", + "Use the left arm to grab the small black stand for payments and rotate it until the QR faces forward", + "Catch and lift the slanted gray panel for QR code scan, then turn it to show the QR code.", + "Catch the payment sign with angled face, lift, and rotate to align the qrcode to you.", + "Locate the green payment logo on gray top, pick it up, and adjust its angle.", + "Lift the paymentsign from the table and turn it to face you.", + "Grab the black base with tilted gray panel using the left arm, then rotate it until the qrcode faces you.", + "Catch the tabletop-sized payment sign, pick it up, and rotate to view the qrcode.", + "Catch the gray slanted panel with text with the left arm, then rotate it to make the QR code visible.", + "Catch the tabletop-sized payment sign off the table and rotate its qrcode to you.", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Use the left arm to grab the paymentsign and rotate QR code towards you.", + "Lift the triangular stand with QR code and rotate until its qrcode faces you.", + "Use the left arm to take the triangular stand with QR code and turn it until the QR code faces you", + "Use the left arm to grab the black base with tilted gray panel, rotate, and face the QR code towards you.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Employ the left arm to seize the payment sign with angled face, raise it, and rotate it QR-forward", + "Lift the black base with tilted gray panel and rotate it until the QR code faces you.", + "Lift the small payment stand with black base from the surface and adjust its angle towards you", + "Lift the small black stand for payments from the table, turning it QR code forward.", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Catch the gray slanted panel with text, pick it up, and rotate to show the QR code.", + "Use the left arm to lift the green payment logo on gray top from the table and face the qrcode.", + "Catch the tabletop-sized payment sign using the left arm, pick it up, and turn it to face the QR code.", + "Grab the gray slanted panel with text with the left arm, then rotate it to face yourself.", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Slide the gray slanted panel with text off the table and turn it to face you.", + "Catch the tabletop-sized payment sign, raise it, and turn it so the QR code faces you", + "Grab the black base with tilted gray panel using the left arm, then rotate the QR code to face forward.", + "Pick the tabletop-sized payment sign up, rotate it, and ensure the QR code faces you.", + "Take the gray top with QR code, raise it, and make the qrcode face you." + ], + "unseen": [ + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode48.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..04c4e863dbd719748c962452e52273c953a315d0 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the paymentsign with glossy blue panel, lift, and rotate to align the qrcode to you.", + "Use the left arm to lift the blue and white paymentsign from the table and face the qrcode.", + "Lift the paymentsign with glossy blue panel from the table and turn it to face you.", + "Pick up the blue and white paymentsign and rotate it so the QR code faces you", + "Lift the small paymentsign with stand from the table and rotate it towards you", + "Locate the blue and white paymentsign, pick it up, and adjust its angle.", + "Catch the blue and white rectangular paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Grab the paymentsign with angled black stand with the left arm, then rotate it to face yourself.", + "Lift the tabletop paymentsign and rotate until its qrcode faces you.", + "Take the paymentsign with angled black stand, raise it, and make the qrcode face you.", + "Lift the paymentsign with angled black stand with the left arm, then rotate it to make the qrcode visible.", + "Pick up the small glossy paymentsign and adjust its position to face the qrcode towards you.", + "Lift the rectangular plastic paymentsign from the table, turning it QR code forward.", + "Pick the rectangular plastic paymentsign with codes up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the rectangular plastic paymentsign and rotate QR code towards you.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the rectangular plastic paymentsign, raise it, and rotate it QR-forward", + "Catch and lift the paymentsign with printed QR codes, then turn it to show the QR code.", + "Using the left arm, catch the paymentsign for scanning QR codes and rotate it to face the QR code.", + "Catch the blue and white paymentsign, lift it, and adjust its QR code to face you.", + "Grab the small paymentsign with stand using the left arm, then rotate it until the qrcode faces you.", + "Take the paymentsign with printed QR codes from the table, rotating it QR code toward you.", + "Grab the small paymentsign with stand using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the smooth surface paymentsign and rotate it until the QR faces forward", + "Grab the paymentsign with glossy blue panel, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the blue and white paymentsign, rotate, and face the QR code towards you.", + "Lift the small glossy paymentsign from the table and rotate it so the code faces you.", + "Use the left arm to grab the blue and white paymentsign, lift, and turn it QR code forward", + "Grab the rectangular plastic paymentsign with codes, lift it from the table, and rotate it QR front", + "Catch the blue and white rectangular paymentsign with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to take the paymentsign with printed QR codes and turn it until the QR code faces you", + "Lift the small glossy paymentsign and orient its QR code toward you with the left arm.", + "Slide the paymentsign with angled black stand off the table and turn it to face you.", + "Catch the rectangular plastic paymentsign with codes, lift it, and turn the qrcode towards you.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Catch the small glossy paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the small glossy paymentsign and point its QR code toward you.", + "Lift the rectangular plastic paymentsign with codes and rotate for its qrcode to face you.", + "Pick the paymentsign with printed QR codes up and turn its QR code toward you using the left arm.", + "Lift the smooth surface paymentsign from the surface and adjust its angle towards you", + "Catch the small paymentsign with stand, lift it, and rotate it QR code facing.", + "Lift the paymentsign for scanning QR codes and rotate it until the QR code faces you.", + "Use the left arm to lift the rectangular plastic paymentsign and rotate it QR code toward you.", + "Catch the blue and white rectangular paymentsign off the table and rotate its qrcode to you.", + "Find the rectangular plastic paymentsign, grab it, and turn it towards yourself.", + "Pick the small paymentsign with stand up, then rotate to make its qrcode visible.", + "Grab the paymentsign with printed QR codes using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the paymentsign with printed QR codes and rotate the qrcode to face you.", + "Catch the rectangular plastic paymentsign with codes, pick it up, and rotate to view the qrcode.", + "Use the left arm to pick the paymentsign with glossy blue panel and turn it towards you.", + "Catch the rectangular plastic paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to lift the paymentsign for scanning QR codes from the table and face the qrcode.", + "Lift the blue and white paymentsign from the table and turn it to face you.", + "Pick up the tabletop paymentsign and rotate it so the QR code faces you", + "Lift the small paymentsign with stand from the table and rotate it towards you", + "Locate the blue and white rectangular paymentsign, pick it up, and adjust its angle.", + "Catch the paymentsign with printed QR codes using the left arm, pick it up, and turn it to face the QR code.", + "Grab the blue and white paymentsign with the left arm, then rotate it to face yourself.", + "Lift the paymentsign with angled black stand and rotate until its qrcode faces you.", + "Take the rectangular plastic paymentsign, raise it, and make the qrcode face you.", + "Lift the paymentsign for scanning QR codes with the left arm, then rotate it to make the qrcode visible.", + "Pick up the paymentsign with printed QR codes and adjust its position to face the qrcode towards you.", + "Lift the paymentsign with printed QR codes from the table, turning it QR code forward.", + "Pick the smooth surface paymentsign up, rotate it, and ensure the QR code faces you.", + "Use the left arm to grab the blue and white paymentsign and rotate QR code towards you.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to show the QR code.", + "Employ the left arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward", + "Catch and lift the small glossy paymentsign, then turn it to show the QR code.", + "Using the left arm, catch the small paymentsign with stand and rotate it to face the QR code.", + "Catch the smooth surface paymentsign, lift it, and adjust its QR code to face you.", + "Grab the small glossy paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Take the small glossy paymentsign from the table, rotating it QR code toward you.", + "Grab the paymentsign with angled black stand using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the blue and white paymentsign and rotate it until the QR faces forward", + "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.", + "Use the left arm to grab the paymentsign with angled black stand, rotate, and face the QR code towards you.", + "Lift the small glossy paymentsign from the table and rotate it so the code faces you.", + "Use the left arm to grab the smooth surface paymentsign, lift, and turn it QR code forward", + "Grab the smooth surface paymentsign, lift it from the table, and rotate it QR front", + "Catch the small paymentsign with stand with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to take the paymentsign with printed QR codes and turn it until the QR code faces you", + "Lift the blue and white rectangular paymentsign and orient its QR code toward you with the left arm.", + "Slide the small glossy paymentsign off the table and turn it to face you.", + "Catch the paymentsign with angled black stand, lift it, and turn the qrcode towards you.", + "Take the blue and white rectangular paymentsign, lift it, and orient it so the QR faces you", + "Catch the tabletop paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the small glossy paymentsign and point its QR code toward you.", + "Lift the paymentsign for scanning QR codes and rotate for its qrcode to face you.", + "Pick the small paymentsign with stand up and turn its QR code toward you using the left arm.", + "Lift the small glossy paymentsign from the surface and adjust its angle towards you", + "Catch the paymentsign with printed QR codes, lift it, and rotate it QR code facing.", + "Lift the paymentsign for scanning QR codes and rotate it until the QR code faces you.", + "Use the left arm to lift the paymentsign with glossy blue panel and rotate it QR code toward you.", + "Catch the blue and white rectangular paymentsign off the table and rotate its qrcode to you.", + "Find the paymentsign with angled black stand, grab it, and turn it towards yourself.", + "Pick the blue and white rectangular paymentsign up, then rotate to make its qrcode visible.", + "Grab the small paymentsign with stand using the left arm, then rotate the QR code to face forward.", + "Use the left arm to grab the paymentsign with glossy blue panel and rotate the qrcode to face you.", + "Catch the paymentsign with angled black stand, pick it up, and rotate to view the qrcode.", + "Use the left arm to pick the paymentsign with angled black stand and turn it towards you." + ], + "unseen": [ + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled support bars and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick up the paymentsign with black metal stand and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the QR code paymentsign and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with black metal stand, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the QR code paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the paymentsign with angled support bars from the table and rotate it", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with black metal stand, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with black metal stand on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with black metal stand up from the table and rotate it.", + "Catch the paymentsign with angled support bars from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the QR code paymentsign off the table using the left arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with angled support bars, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you", + "Catch the paymentsign with black metal stand from the table and rotate it", + "Catch the QR code paymentsign on the table and pick it up.", + "Pick the QR code paymentsign up from the table and rotate it.", + "Catch the QR code paymentsign from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with angled support bars off the table using the left arm and rotate it.", + "Pick up the QR code paymentsign and rotate it facing you.", + "Grab the paymentsign with angled support bars, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the QR code paymentsign, lift it, and turn it to face you", + "Catch the QR code paymentsign from the table and rotate it", + "Catch the paymentsign with angled support bars on the table and pick it up.", + "Pick the paymentsign with angled support bars up from the table and rotate it.", + "Catch the paymentsign with black metal stand from the table and make it face you.", + "Pick up the paymentsign with black metal stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with black metal stand off the table using the left arm and rotate it.", + "Pick up the paymentsign with angled support bars and rotate it facing you.", + "Grab the QR code paymentsign, lift it, and rotate until the QR code faces you.", + "Grab the paymentsign with black metal stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled support bars, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode49.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..85f414251ed55500e6e709ef55d4c164a10c1094 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the compact paymentsign for scanning payments from the table, turning it QR code forward.", + "Slide the QR code paymentsign off the table and turn it to face you.", + "Lift the beige paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Lift the smooth beige paymentsign from the table and turn it to face you.", + "Use the left arm to grab the compact paymentsign for scanning payments, rotate, and face the QR code towards you.", + "Catch the QR code paymentsign with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the smooth beige paymentsign and rotate the qrcode to face you.", + "Lift the compact paymentsign for scanning payments and orient its QR code toward you with the left arm.", + "Grab the paymentsign resting on angled base using the left arm, then rotate it until the qrcode faces you.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Use the left arm to pick the beige paymentsign and turn it towards you.", + "Grab the QR code paymentsign, pick it up, and turn its qrcode toward you.", + "Pick up the stand-up paymentsign with rectangular top and adjust its position to face the qrcode towards you.", + "Use the left arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Employ the left arm to seize the paymentsign showing QR code label, raise it, and rotate it QR-forward", + "Catch the QR code paymentsign, pick it up, and rotate to view the qrcode.", + "Use the left arm to lift the rectangular paymentsign with colorful top and rotate it QR code toward you.", + "Grab the paymentsign resting on angled base using the left arm, then rotate the QR code to face forward.", + "Lift the beige paymentsign and rotate until its qrcode faces you.", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Locate the small paymentsign for mobile payments, pick it up, and adjust its angle.", + "Pick the stand-up paymentsign with rectangular top up, rotate it, and ensure the QR code faces you.", + "Grab the paymentsign with tilted rectangular panel with the left arm, then rotate it to face yourself.", + "Catch the paymentsign with tilted rectangular panel off the table and rotate its qrcode to you.", + "Take the rectangular paymentsign with colorful top, lift it, and orient it so the QR faces you", + "Lift the beige paymentsign from the table and rotate it so the code faces you.", + "Lift the rectangular paymentsign with colorful top from the surface and adjust its angle towards you", + "Catch the beige paymentsign, raise it, and turn it so the QR code faces you", + "Lift the stand-up paymentsign with rectangular top from the table and rotate it towards you", + "Catch the paymentsign showing QR code label, pick it up, and rotate to show the QR code.", + "Grab the paymentsign showing QR code label using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward", + "Catch the paymentsign with blue and white text, lift, and rotate to align the qrcode to you.", + "Use the left arm to take the small paymentsign for mobile payments and turn it until the QR code faces you", + "Take the compact paymentsign for scanning payments from the table, rotating it QR code toward you.", + "Pick the beige paymentsign up and turn its QR code toward you using the left arm.", + "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.", + "Catch the stand-up paymentsign with rectangular top, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the beige paymentsign and rotate QR code towards you.", + "Grab the stand-up paymentsign with rectangular top, lift it from the table, and rotate it QR front", + "Lift the rectangular paymentsign with colorful top and rotate for its qrcode to face you.", + "Use the left arm to grab the beige paymentsign with printed details and rotate it until the QR faces forward", + "Take the paymentsign with blue and white text, raise it, and make the qrcode face you.", + "Using the left arm, catch the smooth beige paymentsign and rotate it to face the QR code.", + "Catch the compact paymentsign for scanning payments using the left arm, pick it up, and turn it to face the QR code.", + "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the rectangular paymentsign with colorful top and point its QR code toward you.", + "Lift the smooth beige paymentsign and rotate it until the QR code faces you.", + "Pick the stand-up paymentsign with rectangular top up, then rotate to make its qrcode visible.", + "Pick up the rectangular paymentsign with colorful top and rotate it so the QR code faces you", + "Lift the QR code paymentsign from the table, turning it QR code forward.", + "Slide the QR code paymentsign off the table and turn it to face you.", + "Lift the compact paymentsign for scanning payments with the left arm, then rotate it to make the qrcode visible.", + "Lift the paymentsign showing QR code label from the table and turn it to face you.", + "Use the left arm to grab the small paymentsign for mobile payments, rotate, and face the QR code towards you.", + "Catch the beige paymentsign with printed details with the left arm, then rotate it to make the QR code visible.", + "Use the left arm to grab the beige paymentsign and rotate the qrcode to face you.", + "Lift the rectangular paymentsign with colorful top and orient its QR code toward you with the left arm.", + "Grab the beige paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch and lift the paymentsign with tilted rectangular panel, then turn it to show the QR code.", + "Use the left arm to pick the paymentsign resting on angled base and turn it towards you.", + "Grab the rectangular paymentsign with colorful top, pick it up, and turn its qrcode toward you.", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Use the left arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Employ the left arm to seize the paymentsign resting on angled base, raise it, and rotate it QR-forward", + "Catch the rectangular paymentsign with colorful top, pick it up, and rotate to view the qrcode.", + "Use the left arm to lift the small paymentsign for mobile payments and rotate it QR code toward you.", + "Grab the paymentsign showing QR code label using the left arm, then rotate the QR code to face forward.", + "Lift the rectangular paymentsign with colorful top and rotate until its qrcode faces you.", + "Find the paymentsign showing QR code label, grab it, and turn it towards yourself.", + "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.", + "Pick the rectangular paymentsign with colorful top up, rotate it, and ensure the QR code faces you.", + "Grab the beige paymentsign with printed details with the left arm, then rotate it to face yourself.", + "Catch the beige paymentsign off the table and rotate its qrcode to you.", + "Take the compact paymentsign for scanning payments, lift it, and orient it so the QR faces you", + "Lift the paymentsign with blue and white text from the table and rotate it so the code faces you.", + "Lift the paymentsign resting on angled base from the surface and adjust its angle towards you", + "Catch the beige paymentsign with printed details, raise it, and turn it so the QR code faces you", + "Lift the paymentsign with tilted rectangular panel from the table and rotate it towards you", + "Catch the beige paymentsign, pick it up, and rotate to show the QR code.", + "Grab the small paymentsign for mobile payments using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the stand-up paymentsign with rectangular top, lift, and turn it QR code forward", + "Catch the beige paymentsign with printed details, lift, and rotate to align the qrcode to you.", + "Use the left arm to take the QR code paymentsign and turn it until the QR code faces you", + "Take the beige paymentsign with printed details from the table, rotating it QR code toward you.", + "Pick the paymentsign resting on angled base up and turn its QR code toward you using the left arm.", + "Catch the QR code paymentsign, lift it, and rotate it QR code facing.", + "Catch the small paymentsign for mobile payments, lift it, and adjust its QR code to face you.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Grab the smooth beige paymentsign, lift it from the table, and rotate it QR front", + "Lift the beige paymentsign and rotate for its qrcode to face you.", + "Use the left arm to grab the small paymentsign for mobile payments and rotate it until the QR faces forward", + "Take the stand-up paymentsign with rectangular top, raise it, and make the qrcode face you.", + "Using the left arm, catch the paymentsign showing QR code label and rotate it to face the QR code.", + "Catch the smooth beige paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Catch the paymentsign with blue and white text, lift it, and turn the qrcode towards you.", + "Use the left arm to grab the paymentsign showing QR code label and point its QR code toward you.", + "Lift the paymentsign showing QR code label and rotate it until the QR code faces you.", + "Pick the beige paymentsign with printed details up, then rotate to make its qrcode visible.", + "Pick up the paymentsign with blue and white text and rotate it so the QR code faces you" + ], + "unseen": [ + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Catch the paymentsign with angled stand from the table and rotate it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode5.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..d87ffd87deef6976e1beb03f9625fb9deb3dcaa1 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the triangular stand with QR code, pick it up, and turn its qrcode toward you.", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Catch the gray top with QR code, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the payment sign with angled face, rotate, and face the QR code towards you.", + "Use the left arm to take the payment sign with angled face and turn it until the QR code faces you", + "Catch the gray top with QR code with the left arm, then rotate it to make the QR code visible.", + "Find the gray top with QR code, grab it, and turn it towards yourself.", + "Use the left arm to grab the payment sign with green logo, lift, and turn it QR code forward", + "Catch the black base with tilted gray panel, pick it up, and rotate to view the qrcode.", + "Lift the green payment logo on gray top from the surface and adjust its angle towards you", + "Pick up the green payment logo on gray top and rotate it so the QR code faces you", + "Lift the gray slanted panel with text and rotate it until the QR code faces you.", + "Lift the black base with tilted gray panel and rotate for its qrcode to face you.", + "Lift the payment sign with angled face from the table and rotate it so the code faces you.", + "Grab the payment sign with green logo with the left arm, then rotate it to face yourself.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Use the left arm to lift the triangular stand with QR code from the table and face the qrcode.", + "Use the left arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Catch the payment sign with green logo, lift, and rotate to align the qrcode to you.", + "Catch the payment sign with green logo off the table and rotate its qrcode to you.", + "Slide the small payment stand with black base off the table and turn it to face you.", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Pick the gray top with QR code up, rotate it, and ensure the QR code faces you.", + "Pick the paymentsign up and turn its QR code toward you using the left arm.", + "Catch the slanted gray panel for QR code scan using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to lift the gray top with QR code and rotate it QR code toward you.", + "Use the left arm to grab the payment sign with angled face and rotate QR code towards you.", + "Lift the gray slanted panel with text from the table and rotate it towards you", + "Take the slanted gray panel for QR code scan, lift it, and orient it so the QR faces you", + "Locate the gray top with QR code, pick it up, and adjust its angle.", + "Use the left arm to pick the triangular stand with QR code and turn it towards you.", + "Lift the paymentsign from the table, turning it QR code forward.", + "Lift the gray top with QR code from the table and turn it to face you.", + "Pick the tabletop-sized payment sign up, then rotate to make its qrcode visible.", + "Grab the triangular stand with QR code using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the gray top with QR code and rotate the qrcode to face you.", + "Employ the left arm to seize the payment sign with green logo, raise it, and rotate it QR-forward", + "Catch the black base with tilted gray panel, lift it, and turn the qrcode towards you.", + "Grab the payment sign with angled face using the left arm, lift, and rotate until QR code faces you.", + "Grab the slanted gray panel for QR code scan, lift it from the table, and rotate it QR front", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Lift the black base with tilted gray panel and orient its QR code toward you with the left arm.", + "Using the left arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Grab the gray slanted panel with text using the left arm, then rotate the QR code to face forward.", + "Lift the paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the gray top with QR code and point its QR code toward you.", + "Catch and lift the gray top with QR code, then turn it to show the QR code.", + "Pick up the tabletop-sized payment sign and adjust its position to face the qrcode towards you.", + "Grab the small payment stand with black base, pick it up, and turn its qrcode toward you.", + "Catch the triangular stand with QR code, lift it, and adjust its QR code to face you.", + "Catch the slanted gray panel for QR code scan, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the small payment stand with black base, rotate, and face the QR code towards you.", + "Use the left arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Catch the tabletop-sized payment sign with the left arm, then rotate it to make the QR code visible.", + "Find the gray top with QR code, grab it, and turn it towards yourself.", + "Use the left arm to grab the small payment stand with black base, lift, and turn it QR code forward", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Lift the green payment logo on gray top from the surface and adjust its angle towards you", + "Pick up the paymentsign and rotate it so the QR code faces you", + "Lift the small payment stand with black base and rotate it until the QR code faces you.", + "Lift the triangular stand with QR code and rotate for its qrcode to face you.", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you.", + "Grab the gray slanted panel with text with the left arm, then rotate it to face yourself.", + "Lift the small payment stand with black base and rotate until its qrcode faces you.", + "Use the left arm to lift the green payment logo on gray top from the table and face the qrcode.", + "Use the left arm to grab the gray slanted panel with text and rotate it until the QR faces forward", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Catch the triangular stand with QR code, lift, and rotate to align the qrcode to you.", + "Catch the paymentsign off the table and rotate its qrcode to you.", + "Slide the small black stand for payments off the table and turn it to face you.", + "Catch the gray top with QR code, pick it up, and rotate to show the QR code.", + "Take the green payment logo on gray top, raise it, and make the qrcode face you.", + "Pick the paymentsign up, rotate it, and ensure the QR code faces you.", + "Pick the green payment logo on gray top up and turn its QR code toward you using the left arm.", + "Catch the payment sign with green logo using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to lift the small black stand for payments and rotate it QR code toward you.", + "Use the left arm to grab the green payment logo on gray top and rotate QR code towards you.", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Take the payment sign with green logo, lift it, and orient it so the QR faces you", + "Locate the gray slanted panel with text, pick it up, and adjust its angle.", + "Use the left arm to pick the tabletop-sized payment sign and turn it towards you.", + "Lift the gray slanted panel with text from the table, turning it QR code forward.", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Grab the gray top with QR code using the left arm, then rotate it until the qrcode faces you.", + "Use the left arm to grab the payment sign with angled face and rotate the qrcode to face you.", + "Employ the left arm to seize the small black stand for payments, raise it, and rotate it QR-forward", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Grab the small black stand for payments using the left arm, lift, and rotate until QR code faces you.", + "Grab the gray top with QR code, lift it from the table, and rotate it QR front", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Lift the payment sign with angled face and orient its QR code toward you with the left arm.", + "Using the left arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Grab the gray slanted panel with text using the left arm, then rotate the QR code to face forward.", + "Lift the gray top with QR code with the left arm, then rotate it to make the qrcode visible.", + "Use the left arm to grab the payment sign with angled face and point its QR code toward you.", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Pick up the black base with tilted gray panel and adjust its position to face the qrcode towards you." + ], + "unseen": [ + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black stand with angled display from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Catch the black triangular stand on the table and pick it up.", + "Catch the black triangular stand from the table and rotate it", + "Pick the black triangular stand up from the table and rotate it.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the black stand with angled display up from the table and rotate it.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Catch the black stand with angled display on the table and pick it up.", + "Catch the QR code payment sign from the table and rotate it", + "Pick the QR code payment sign up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode6.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..a0693eb8c9c88bd45d80dd6be9f1b95eb0851c4c --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the gray top with QR code using the right arm, lift, and rotate until QR code faces you.", + "Slide the paymentsign off the table and turn it to face you.", + "Catch the tabletop-sized payment sign, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Catch the small payment stand with black base, raise it, and turn it so the QR code faces you", + "Catch the tabletop-sized payment sign with the right arm, then rotate it to make the QR code visible.", + "Lift the slanted gray panel for QR code scan and rotate for its qrcode to face you.", + "Use the right arm to grab the small payment stand with black base and rotate the qrcode to face you.", + "Lift the payment sign with green logo from the table and rotate it towards you", + "Take the payment sign with green logo, raise it, and make the qrcode face you.", + "Catch the green payment logo on gray top, lift, and rotate to align the qrcode to you.", + "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.", + "Pick the small payment stand with black base up, then rotate to make its qrcode visible.", + "Lift the payment sign with green logo and rotate until its qrcode faces you.", + "Lift the gray slanted panel with text and orient its QR code toward you with the right arm.", + "Use the right arm to pick the tabletop-sized payment sign and turn it towards you.", + "Pick up the gray top with QR code and rotate it so the QR code faces you", + "Using the right arm, catch the small payment stand with black base and rotate it to face the QR code.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Grab the small payment stand with black base using the right arm, then rotate the QR code to face forward.", + "Catch the small black stand for payments, lift it, and rotate it QR code facing.", + "Catch the payment sign with green logo, lift it, and adjust its QR code to face you.", + "Catch the black base with tilted gray panel off the table and rotate its qrcode to you.", + "Lift the green payment logo on gray top from the table and turn it to face you.", + "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.", + "Lift the triangular stand with QR code and rotate it until the QR code faces you.", + "Use the right arm to grab the gray top with QR code and point its QR code toward you.", + "Find the green payment logo on gray top, grab it, and turn it towards yourself.", + "Grab the triangular stand with QR code, lift it from the table, and rotate it QR front", + "Pick the payment sign with green logo up and turn its QR code toward you using the right arm.", + "Pick up the payment sign with angled face and adjust its position to face the qrcode towards you.", + "Catch the gray top with QR code, pick it up, and rotate to show the QR code.", + "Lift the gray slanted panel with text with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the payment sign with green logo and rotate QR code towards you.", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Grab the payment sign with angled face with the right arm, then rotate it to face yourself.", + "Employ the right arm to seize the slanted gray panel for QR code scan, raise it, and rotate it QR-forward", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Grab the tabletop-sized payment sign using the right arm, then rotate it until the qrcode faces you.", + "Grab the green payment logo on gray top, pick it up, and turn its qrcode toward you.", + "Use the right arm to lift the slanted gray panel for QR code scan from the table and face the qrcode.", + "Use the right arm to grab the small payment stand with black base, rotate, and face the QR code towards you.", + "Lift the slanted gray panel for QR code scan from the surface and adjust its angle towards you", + "Lift the payment sign with green logo from the table, turning it QR code forward.", + "Use the right arm to grab the triangular stand with QR code and rotate it until the QR faces forward", + "Locate the payment sign with green logo, pick it up, and adjust its angle.", + "Catch the slanted gray panel for QR code scan using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to lift the paymentsign and rotate it QR code toward you.", + "Use the right arm to take the payment sign with angled face and turn it until the QR code faces you", + "Catch the green payment logo on gray top, pick it up, and rotate to view the qrcode.", + "Grab the small payment stand with black base using the right arm, lift, and rotate until QR code faces you.", + "Slide the payment sign with green logo off the table and turn it to face you.", + "Catch the green payment logo on gray top, lift it, and turn the qrcode towards you.", + "Use the right arm to grab the tabletop-sized payment sign, lift, and turn it QR code forward", + "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you", + "Catch the small payment stand with black base with the right arm, then rotate it to make the QR code visible.", + "Lift the gray top with QR code and rotate for its qrcode to face you.", + "Use the right arm to grab the green payment logo on gray top and rotate the qrcode to face you.", + "Lift the small payment stand with black base from the table and rotate it towards you", + "Take the slanted gray panel for QR code scan, raise it, and make the qrcode face you.", + "Catch the payment sign with green logo, lift, and rotate to align the qrcode to you.", + "Pick the gray top with QR code up, rotate it, and ensure the QR code faces you.", + "Pick the small black stand for payments up, then rotate to make its qrcode visible.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Lift the triangular stand with QR code and orient its QR code toward you with the right arm.", + "Use the right arm to pick the payment sign with green logo and turn it towards you.", + "Pick up the triangular stand with QR code and rotate it so the QR code faces you", + "Using the right arm, catch the gray slanted panel with text and rotate it to face the QR code.", + "Take the green payment logo on gray top from the table, rotating it QR code toward you.", + "Grab the black base with tilted gray panel using the right arm, then rotate the QR code to face forward.", + "Catch the tabletop-sized payment sign, lift it, and rotate it QR code facing.", + "Catch the gray top with QR code, lift it, and adjust its QR code to face you.", + "Catch the tabletop-sized payment sign off the table and rotate its qrcode to you.", + "Lift the gray slanted panel with text from the table and turn it to face you.", + "Lift the tabletop-sized payment sign from the table and rotate it so the code faces you.", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Use the right arm to grab the black base with tilted gray panel and point its QR code toward you.", + "Find the paymentsign, grab it, and turn it towards yourself.", + "Grab the green payment logo on gray top, lift it from the table, and rotate it QR front", + "Pick the small black stand for payments up and turn its QR code toward you using the right arm.", + "Pick up the paymentsign and adjust its position to face the qrcode towards you.", + "Catch the small black stand for payments, pick it up, and rotate to show the QR code.", + "Lift the payment sign with angled face with the right arm, then rotate it to make the qrcode visible.", + "Use the right arm to grab the payment sign with angled face and rotate QR code towards you.", + "Catch and lift the payment sign with angled face, then turn it to show the QR code.", + "Grab the tabletop-sized payment sign with the right arm, then rotate it to face yourself.", + "Employ the right arm to seize the small payment stand with black base, raise it, and rotate it QR-forward", + "Take the green payment logo on gray top, lift it, and orient it so the QR faces you", + "Grab the green payment logo on gray top using the right arm, then rotate it until the qrcode faces you.", + "Grab the gray top with QR code, pick it up, and turn its qrcode toward you.", + "Use the right arm to lift the small payment stand with black base from the table and face the qrcode.", + "Use the right arm to grab the small payment stand with black base, rotate, and face the QR code towards you.", + "Lift the gray slanted panel with text from the surface and adjust its angle towards you", + "Lift the gray top with QR code from the table, turning it QR code forward.", + "Use the right arm to grab the payment sign with green logo and rotate it until the QR faces forward", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Catch the small payment stand with black base using the right arm, pick it up, and turn it to face the QR code.", + "Use the right arm to lift the triangular stand with QR code and rotate it QR code toward you.", + "Use the right arm to take the gray top with QR code and turn it until the QR code faces you", + "Catch the payment sign with green logo, pick it up, and rotate to view the qrcode." + ], + "unseen": [ + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the black stand with angled display off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the black triangular stand off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you.", + "Catch the black triangular stand on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Catch the black stand with angled display from the table and make it face you.", + "Catch the QR code payment sign on the table and pick it up.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the QR code payment sign and rotate it facing you.", + "Catch the black triangular stand from the table and make it face you.", + "Catch the black stand with angled display on the table and pick it up.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Pick the QR code payment sign off the table using the right arm and rotate it.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Catch the QR code payment sign from the table and make it face you." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode7.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..82839281be3c6c71d44614248c2b5c3fd27aba01 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.", + "Pick the smooth beige paymentsign up and turn its QR code toward you using the left arm.", + "Lift the beige paymentsign and rotate for its qrcode to face you.", + "Catch the beige paymentsign with printed details, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the beige paymentsign, lift, and turn it QR code forward", + "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front", + "Grab the compact paymentsign for scanning payments using the left arm, then rotate the QR code to face forward.", + "Grab the paymentsign resting on angled base using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the small paymentsign for mobile payments, rotate, and face the QR code towards you.", + "Use the left arm to grab the paymentsign with tilted rectangular panel and rotate the qrcode to face you.", + "Catch the smooth beige paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Lift the QR code paymentsign and rotate until its qrcode faces you.", + "Locate the paymentsign with tilted rectangular panel, pick it up, and adjust its angle.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Grab the beige paymentsign with printed details with the left arm, then rotate it to face yourself.", + "Catch the paymentsign showing QR code label, pick it up, and rotate to show the QR code.", + "Lift the stand-up paymentsign with rectangular top from the table, turning it QR code forward.", + "Find the paymentsign resting on angled base, grab it, and turn it towards yourself.", + "Use the left arm to grab the compact paymentsign for scanning payments and point its QR code toward you.", + "Catch the paymentsign with blue and white text, pick it up, and rotate to view the qrcode.", + "Catch the QR code paymentsign, lift it, and adjust its QR code to face you.", + "Lift the small paymentsign for mobile payments from the table and turn it to face you.", + "Grab the smooth beige paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the paymentsign showing QR code label, lift it, and turn the qrcode towards you.", + "Lift the smooth beige paymentsign from the table and rotate it so the code faces you.", + "Use the left arm to lift the paymentsign with blue and white text and rotate it QR code toward you.", + "Lift the QR code paymentsign from the table and rotate it towards you", + "Use the left arm to pick the smooth beige paymentsign and turn it towards you.", + "Use the left arm to take the paymentsign resting on angled base and turn it until the QR code faces you", + "Using the left arm, catch the rectangular paymentsign with colorful top and rotate it to face the QR code.", + "Catch the stand-up paymentsign with rectangular top using the left arm, pick it up, and turn it to face the QR code.", + "Take the beige paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to grab the compact paymentsign for scanning payments and rotate QR code towards you.", + "Slide the rectangular paymentsign with colorful top off the table and turn it to face you.", + "Lift the smooth beige paymentsign with the left arm, then rotate it to make the qrcode visible.", + "Pick the paymentsign showing QR code label up, rotate it, and ensure the QR code faces you.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Catch the compact paymentsign for scanning payments with the left arm, then rotate it to make the QR code visible.", + "Lift the smooth beige paymentsign and orient its QR code toward you with the left arm.", + "Employ the left arm to seize the small paymentsign for mobile payments, raise it, and rotate it QR-forward", + "Take the beige paymentsign from the table, rotating it QR code toward you.", + "Pick up the QR code paymentsign and adjust its position to face the qrcode towards you.", + "Grab the stand-up paymentsign with rectangular top, pick it up, and turn its qrcode toward you.", + "Lift the beige paymentsign from the surface and adjust its angle towards you", + "Pick up the beige paymentsign with printed details and rotate it so the QR code faces you", + "Take the beige paymentsign with printed details, lift it, and orient it so the QR faces you", + "Use the left arm to grab the smooth beige paymentsign and rotate it until the QR faces forward", + "Lift the QR code paymentsign and rotate it until the QR code faces you.", + "Catch the beige paymentsign with printed details off the table and rotate its qrcode to you.", + "Catch the smooth beige paymentsign, lift it, and rotate it QR code facing.", + "Pick the rectangular paymentsign with colorful top up and turn its QR code toward you using the left arm.", + "Lift the stand-up paymentsign with rectangular top and rotate for its qrcode to face you.", + "Catch the smooth beige paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to grab the paymentsign with blue and white text, lift, and turn it QR code forward", + "Grab the paymentsign with blue and white text, lift it from the table, and rotate it QR front", + "Grab the QR code paymentsign using the left arm, then rotate the QR code to face forward.", + "Grab the paymentsign with tilted rectangular panel using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the smooth beige paymentsign, rotate, and face the QR code towards you.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate the qrcode to face you.", + "Catch the rectangular paymentsign with colorful top, raise it, and turn it so the QR code faces you", + "Use the left arm to lift the stand-up paymentsign with rectangular top from the table and face the qrcode.", + "Lift the small paymentsign for mobile payments and rotate until its qrcode faces you.", + "Locate the paymentsign resting on angled base, pick it up, and adjust its angle.", + "Pick the paymentsign with tilted rectangular panel up, then rotate to make its qrcode visible.", + "Grab the stand-up paymentsign with rectangular top with the left arm, then rotate it to face yourself.", + "Catch the paymentsign with tilted rectangular panel, pick it up, and rotate to show the QR code.", + "Lift the paymentsign with blue and white text from the table, turning it QR code forward.", + "Find the rectangular paymentsign with colorful top, grab it, and turn it towards yourself.", + "Use the left arm to grab the paymentsign resting on angled base and point its QR code toward you.", + "Catch the beige paymentsign with printed details, pick it up, and rotate to view the qrcode.", + "Catch the smooth beige paymentsign, lift it, and adjust its QR code to face you.", + "Lift the small paymentsign for mobile payments from the table and turn it to face you.", + "Grab the smooth beige paymentsign using the left arm, then rotate it until the qrcode faces you.", + "Catch the smooth beige paymentsign, lift it, and turn the qrcode towards you.", + "Lift the smooth beige paymentsign from the table and rotate it so the code faces you.", + "Use the left arm to lift the smooth beige paymentsign and rotate it QR code toward you.", + "Lift the QR code paymentsign from the table and rotate it towards you", + "Use the left arm to pick the small paymentsign for mobile payments and turn it towards you.", + "Use the left arm to take the paymentsign with blue and white text and turn it until the QR code faces you", + "Using the left arm, catch the paymentsign with blue and white text and rotate it to face the QR code.", + "Catch the smooth beige paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Take the beige paymentsign, raise it, and make the qrcode face you.", + "Use the left arm to grab the rectangular paymentsign with colorful top and rotate QR code towards you.", + "Slide the paymentsign with blue and white text off the table and turn it to face you.", + "Lift the rectangular paymentsign with colorful top with the left arm, then rotate it to make the qrcode visible.", + "Pick the small paymentsign for mobile payments up, rotate it, and ensure the QR code faces you.", + "Catch and lift the beige paymentsign, then turn it to show the QR code.", + "Catch the paymentsign resting on angled base with the left arm, then rotate it to make the QR code visible.", + "Lift the smooth beige paymentsign and orient its QR code toward you with the left arm.", + "Employ the left arm to seize the QR code paymentsign, raise it, and rotate it QR-forward", + "Take the small paymentsign for mobile payments from the table, rotating it QR code toward you.", + "Pick up the paymentsign resting on angled base and adjust its position to face the qrcode towards you.", + "Grab the beige paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the small paymentsign for mobile payments from the surface and adjust its angle towards you", + "Pick up the small paymentsign for mobile payments and rotate it so the QR code faces you", + "Take the paymentsign resting on angled base, lift it, and orient it so the QR faces you", + "Use the left arm to grab the small paymentsign for mobile payments and rotate it until the QR faces forward", + "Lift the beige paymentsign and rotate it until the QR code faces you.", + "Catch the QR code paymentsign off the table and rotate its qrcode to you." + ], + "unseen": [ + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with angled stand, lift it, and turn it to face you", + "Grab the paymentsign with QR code, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the tabletop paymentsign on the table and pick it up.", + "Pick the tabletop paymentsign up from the table and rotate it.", + "Catch the paymentsign with QR code from the table and rotate it", + "Pick the tabletop paymentsign off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the paymentsign with QR code and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the tabletop paymentsign from the table and make it face you.", + "Grab the paymentsign with angled stand, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the tabletop paymentsign and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the tabletop paymentsign from the table and rotate it", + "Pick the paymentsign with QR code off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the tabletop paymentsign, lift it, and rotate to see the qrcode.", + "Grab the paymentsign with QR code, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the tabletop paymentsign and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with angled stand up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with QR code from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the tabletop paymentsign, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with QR code and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with angled stand on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it.", + "Catch the paymentsign with angled stand from the table and rotate it", + "Pick the paymentsign with angled stand off the table using the left arm and rotate it.", + "Catch the paymentsign with angled stand from the table and make it face you.", + "Grab the paymentsign with QR code, lift it, and rotate to see the qrcode.", + "Grab the tabletop paymentsign, lift it, and turn it to face you", + "Grab the paymentsign with angled stand, lift it, and rotate until the QR code faces you.", + "Pick up the paymentsign with angled stand and rotate it to face its QR code toward you.", + "Pick up the paymentsign with angled stand and rotate it facing you.", + "Catch the paymentsign with QR code on the table and pick it up.", + "Pick the paymentsign with QR code up from the table and rotate it." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode8.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..e1118b40eb81aa6c741392b169ea3d3ca0bfa14a --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch and lift the white rectangular paymentsign with yellow details, then turn it to show the QR code.", + "Lift the tabletop paymentsign and rotate for its qrcode to face you.", + "Use the left arm to grab the tabletop paymentsign and rotate QR code towards you.", + "Take the rectangular paymentsign with stand, lift it, and orient it so the QR faces you", + "Catch the plastic smooth paymentsign, lift it, and turn the qrcode towards you.", + "Lift the sign with yellow payment section from the table and rotate it so the code faces you.", + "Lift the paymentsign with QR code area from the table, turning it QR code forward.", + "Use the left arm to grab the paymentsign, rotate, and face the QR code towards you.", + "Lift the yellow panel white paymentsign and orient its QR code toward you with the left arm.", + "Take the rectangular paymentsign with stand from the table, rotating it QR code toward you.", + "Catch the rectangular paymentsign with stand, lift, and rotate to align the qrcode to you.", + "Use the left arm to lift the rectangular paymentsign with stand and rotate it QR code toward you.", + "Using the left arm, catch the white paymentsign with raised base and rotate it to face the QR code.", + "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.", + "Grab the yellow and white payment display, lift it from the table, and rotate it QR front", + "Pick the white paymentsign with raised base up, rotate it, and ensure the QR code faces you.", + "Employ the left arm to seize the plastic smooth paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to grab the smooth plastic paymentsign with QR code and point its QR code toward you.", + "Catch the tabletop paymentsign with the left arm, then rotate it to make the QR code visible.", + "Slide the plastic smooth paymentsign off the table and turn it to face you.", + "Catch the paymentsign using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the smooth plastic paymentsign with QR code, lift, and turn it QR code forward", + "Grab the white paymentsign with raised base using the left arm, then rotate it until the qrcode faces you.", + "Lift the rectangular paymentsign with stand with the left arm, then rotate it to make the qrcode visible.", + "Lift the tabletop paymentsign from the table and turn it to face you.", + "Lift the rectangular paymentsign with stand and rotate it until the QR code faces you.", + "Catch the sign with yellow payment section, pick it up, and rotate to view the qrcode.", + "Lift the yellow panel white paymentsign from the table and rotate it towards you", + "Pick up the smooth plastic paymentsign with QR code and adjust its position to face the qrcode towards you.", + "Catch the yellow panel white paymentsign, lift it, and rotate it QR code facing.", + "Catch the smooth plastic paymentsign with QR code, lift it, and adjust its QR code to face you.", + "Use the left arm to take the sign with yellow payment section and turn it until the QR code faces you", + "Catch the plastic smooth paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the white paymentsign with raised base and rotate it until the QR faces forward", + "Grab the smooth plastic paymentsign with QR code, pick it up, and turn its qrcode toward you.", + "Lift the paymentsign and rotate until its qrcode faces you.", + "Lift the sign with yellow payment section from the surface and adjust its angle towards you", + "Grab the plastic smooth paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Catch the smooth plastic paymentsign with QR code off the table and rotate its qrcode to you.", + "Use the left arm to pick the smooth plastic paymentsign with QR code and turn it towards you.", + "Pick up the rectangular paymentsign with stand and rotate it so the QR code faces you", + "Pick the smooth plastic paymentsign with QR code up and turn its QR code toward you using the left arm.", + "Grab the paymentsign with QR code area with the left arm, then rotate it to face yourself.", + "Locate the paymentsign, pick it up, and adjust its angle.", + "Use the left arm to lift the white stand sign from the table and face the qrcode.", + "Grab the tabletop paymentsign using the left arm, then rotate the QR code to face forward.", + "Find the white paymentsign with raised base, grab it, and turn it towards yourself.", + "Pick the yellow panel white paymentsign up, then rotate to make its qrcode visible.", + "Use the left arm to grab the sign with yellow payment section and rotate the qrcode to face you.", + "Take the rectangular paymentsign with stand, raise it, and make the qrcode face you.", + "Catch and lift the yellow and white payment display, then turn it to show the QR code.", + "Lift the white rectangular paymentsign with yellow details and rotate for its qrcode to face you.", + "Use the left arm to grab the sign with yellow payment section and rotate QR code towards you.", + "Take the tabletop paymentsign, lift it, and orient it so the QR faces you", + "Catch the white stand sign, lift it, and turn the qrcode towards you.", + "Lift the paymentsign from the table and rotate it so the code faces you.", + "Lift the white stand sign from the table, turning it QR code forward.", + "Use the left arm to grab the plastic smooth paymentsign, rotate, and face the QR code towards you.", + "Lift the rectangular paymentsign with stand and orient its QR code toward you with the left arm.", + "Take the paymentsign from the table, rotating it QR code toward you.", + "Catch the paymentsign, lift, and rotate to align the qrcode to you.", + "Use the left arm to lift the white rectangular paymentsign with yellow details and rotate it QR code toward you.", + "Using the left arm, catch the tabletop paymentsign and rotate it to face the QR code.", + "Catch the sign with yellow payment section, pick it up, and rotate to show the QR code.", + "Grab the white rectangular paymentsign with yellow details, lift it from the table, and rotate it QR front", + "Pick the yellow and white payment display up, rotate it, and ensure the QR code faces you.", + "Employ the left arm to seize the yellow panel white paymentsign, raise it, and rotate it QR-forward", + "Use the left arm to grab the rectangular paymentsign with stand and point its QR code toward you.", + "Catch the rectangular paymentsign with stand with the left arm, then rotate it to make the QR code visible.", + "Slide the white rectangular paymentsign with yellow details off the table and turn it to face you.", + "Catch the rectangular paymentsign with stand using the left arm, pick it up, and turn it to face the QR code.", + "Use the left arm to grab the paymentsign, lift, and turn it QR code forward", + "Grab the white stand sign using the left arm, then rotate it until the qrcode faces you.", + "Lift the rectangular paymentsign with stand with the left arm, then rotate it to make the qrcode visible.", + "Lift the paymentsign with QR code area from the table and turn it to face you.", + "Lift the smooth plastic paymentsign with QR code and rotate it until the QR code faces you.", + "Catch the sign with yellow payment section, pick it up, and rotate to view the qrcode.", + "Lift the white rectangular paymentsign with yellow details from the table and rotate it towards you", + "Pick up the white rectangular paymentsign with yellow details and adjust its position to face the qrcode towards you.", + "Catch the yellow and white payment display, lift it, and rotate it QR code facing.", + "Catch the yellow panel white paymentsign, lift it, and adjust its QR code to face you.", + "Use the left arm to take the white stand sign and turn it until the QR code faces you", + "Catch the tabletop paymentsign, raise it, and turn it so the QR code faces you", + "Use the left arm to grab the yellow panel white paymentsign and rotate it until the QR faces forward", + "Grab the paymentsign, pick it up, and turn its qrcode toward you.", + "Lift the plastic smooth paymentsign and rotate until its qrcode faces you.", + "Lift the white rectangular paymentsign with yellow details from the surface and adjust its angle towards you", + "Grab the sign with yellow payment section using the left arm, lift, and rotate until QR code faces you.", + "Catch the plastic smooth paymentsign off the table and rotate its qrcode to you.", + "Use the left arm to pick the yellow panel white paymentsign and turn it towards you.", + "Pick up the tabletop paymentsign and rotate it so the QR code faces you", + "Pick the smooth plastic paymentsign with QR code up and turn its QR code toward you using the left arm.", + "Grab the yellow panel white paymentsign with the left arm, then rotate it to face yourself.", + "Locate the tabletop paymentsign, pick it up, and adjust its angle.", + "Use the left arm to lift the smooth plastic paymentsign with QR code from the table and face the qrcode.", + "Grab the white stand sign using the left arm, then rotate the QR code to face forward.", + "Find the yellow and white payment display, grab it, and turn it towards yourself.", + "Pick the white paymentsign with raised base up, then rotate to make its qrcode visible.", + "Use the left arm to grab the smooth plastic paymentsign with QR code and rotate the qrcode to face you.", + "Take the white stand sign, raise it, and make the qrcode face you." + ], + "unseen": [ + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the paymentsign with smooth base stand and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the medium paymentsign with QR section up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the medium paymentsign with QR section and rotate it to face its QR code toward you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the medium paymentsign with QR section, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the medium paymentsign with QR section off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the paymentsign with smooth base stand from the table and rotate it", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the paymentsign with smooth base stand from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the medium paymentsign with QR section, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the sign for payment processing from the table and rotate it", + "Pick up the sign for payment processing and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the sign for payment processing up from the table and rotate it.", + "Grab the paymentsign with smooth base stand, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the paymentsign with smooth base stand, lift it, and turn it to face you", + "Grab the sign for payment processing, lift it, and rotate to see the qrcode.", + "Pick the paymentsign with smooth base stand off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the sign for payment processing and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the medium paymentsign with QR section, lift it, and rotate until the QR code faces you.", + "Catch the medium paymentsign with QR section from the table and make it face you.", + "Catch the medium paymentsign with QR section on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you", + "Grab the paymentsign with smooth base stand, lift it, and rotate to see the qrcode.", + "Pick the sign for payment processing off the table using the left arm and rotate it.", + "Catch the medium paymentsign with QR section from the table and rotate it", + "Pick up the medium paymentsign with QR section and rotate it facing you.", + "Pick up the paymentsign with smooth base stand and rotate it to face its QR code toward you.", + "Pick the paymentsign with smooth base stand up from the table and rotate it.", + "Grab the sign for payment processing, lift it, and rotate until the QR code faces you.", + "Catch the sign for payment processing from the table and make it face you.", + "Catch the paymentsign with smooth base stand on the table and pick it up.", + "Grab the sign for payment processing, lift it, and turn it to face you" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode9.json b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..45978eeb1ef2ea8a280977821cb13211df8e83e9 --- /dev/null +++ b/robotwin_multiembodiments/rotate_qrcode/ur5-wsg/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the small black stand for payments, lift it, and turn the qrcode towards you.", + "Grab the gray slanted panel with text, pick it up, and turn its qrcode toward you.", + "Lift the green payment logo on gray top from the table and rotate it so the code faces you.", + "Use the left arm to take the payment sign with green logo and turn it until the QR code faces you", + "Pick the paymentsign up and turn its QR code toward you using the left arm.", + "Catch the green payment logo on gray top, lift, and rotate to align the qrcode to you.", + "Lift the black base with tilted gray panel from the table, turning it QR code forward.", + "Catch the small black stand for payments with the left arm, then rotate it to make the QR code visible.", + "Take the gray top with QR code, lift it, and orient it so the QR faces you", + "Catch the small payment stand with black base, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the payment sign with angled face and rotate the qrcode to face you.", + "Using the left arm, catch the black base with tilted gray panel and rotate it to face the QR code.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Use the left arm to lift the green payment logo on gray top from the table and face the qrcode.", + "Catch and lift the tabletop-sized payment sign, then turn it to show the QR code.", + "Pick up the tabletop-sized payment sign and rotate it so the QR code faces you", + "Use the left arm to grab the tabletop-sized payment sign and rotate QR code towards you.", + "Take the gray top with QR code from the table, rotating it QR code toward you.", + "Find the gray slanted panel with text, grab it, and turn it towards yourself.", + "Pick up the small payment stand with black base and adjust its position to face the qrcode towards you.", + "Lift the slanted gray panel for QR code scan from the table and turn it to face you.", + "Use the left arm to grab the triangular stand with QR code, rotate, and face the QR code towards you.", + "Use the left arm to lift the gray slanted panel with text and rotate it QR code toward you.", + "Catch the gray top with QR code using the left arm, pick it up, and turn it to face the QR code.", + "Grab the small payment stand with black base using the left arm, then rotate it until the qrcode faces you.", + "Grab the small black stand for payments with the left arm, then rotate it to face yourself.", + "Lift the green payment logo on gray top and rotate it until the QR code faces you.", + "Use the left arm to grab the tabletop-sized payment sign and point its QR code toward you.", + "Lift the gray top with QR code with the left arm, then rotate it to make the qrcode visible.", + "Lift the green payment logo on gray top and orient its QR code toward you with the left arm.", + "Catch the small black stand for payments off the table and rotate its qrcode to you.", + "Catch the gray top with QR code, lift it, and rotate it QR code facing.", + "Use the left arm to pick the payment sign with green logo and turn it towards you.", + "Grab the triangular stand with QR code using the left arm, then rotate the QR code to face forward.", + "Employ the left arm to seize the payment sign with green logo, raise it, and rotate it QR-forward", + "Take the gray slanted panel with text, raise it, and make the qrcode face you.", + "Catch the gray top with QR code, lift it, and adjust its QR code to face you.", + "Locate the payment sign with angled face, pick it up, and adjust its angle.", + "Lift the gray slanted panel with text and rotate for its qrcode to face you.", + "Grab the payment sign with angled face, lift it from the table, and rotate it QR front", + "Pick the green payment logo on gray top up, rotate it, and ensure the QR code faces you.", + "Lift the small black stand for payments from the table and rotate it towards you", + "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.", + "Grab the paymentsign using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the slanted gray panel for QR code scan, lift, and turn it QR code forward", + "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.", + "Slide the gray top with QR code off the table and turn it to face you.", + "Lift the payment sign with green logo from the surface and adjust its angle towards you", + "Catch the slanted gray panel for QR code scan, raise it, and turn it so the QR code faces you", + "Pick the gray top with QR code up, then rotate to make its qrcode visible.", + "Catch the triangular stand with QR code, lift it, and turn the qrcode towards you.", + "Grab the small black stand for payments, pick it up, and turn its qrcode toward you.", + "Lift the small black stand for payments from the table and rotate it so the code faces you.", + "Use the left arm to take the green payment logo on gray top and turn it until the QR code faces you", + "Pick the small black stand for payments up and turn its QR code toward you using the left arm.", + "Catch the green payment logo on gray top, lift, and rotate to align the qrcode to you.", + "Lift the small black stand for payments from the table, turning it QR code forward.", + "Catch the triangular stand with QR code with the left arm, then rotate it to make the QR code visible.", + "Take the tabletop-sized payment sign, lift it, and orient it so the QR faces you", + "Catch the small black stand for payments, pick it up, and rotate to view the qrcode.", + "Use the left arm to grab the paymentsign and rotate the qrcode to face you.", + "Using the left arm, catch the paymentsign and rotate it to face the QR code.", + "Use the left arm to grab the paymentsign and rotate it until the QR faces forward", + "Use the left arm to lift the payment sign with green logo from the table and face the qrcode.", + "Catch and lift the slanted gray panel for QR code scan, then turn it to show the QR code.", + "Pick up the small black stand for payments and rotate it so the QR code faces you", + "Use the left arm to grab the paymentsign and rotate QR code towards you.", + "Take the payment sign with green logo from the table, rotating it QR code toward you.", + "Find the triangular stand with QR code, grab it, and turn it towards yourself.", + "Pick up the paymentsign and adjust its position to face the qrcode towards you.", + "Lift the paymentsign from the table and turn it to face you.", + "Use the left arm to grab the black base with tilted gray panel, rotate, and face the QR code towards you.", + "Use the left arm to lift the slanted gray panel for QR code scan and rotate it QR code toward you.", + "Catch the small payment stand with black base using the left arm, pick it up, and turn it to face the QR code.", + "Grab the slanted gray panel for QR code scan using the left arm, then rotate it until the qrcode faces you.", + "Grab the small payment stand with black base with the left arm, then rotate it to face yourself.", + "Lift the gray top with QR code and rotate it until the QR code faces you.", + "Use the left arm to grab the tabletop-sized payment sign and point its QR code toward you.", + "Lift the slanted gray panel for QR code scan with the left arm, then rotate it to make the qrcode visible.", + "Lift the payment sign with angled face and orient its QR code toward you with the left arm.", + "Catch the payment sign with angled face off the table and rotate its qrcode to you.", + "Catch the green payment logo on gray top, lift it, and rotate it QR code facing.", + "Use the left arm to pick the small payment stand with black base and turn it towards you.", + "Grab the green payment logo on gray top using the left arm, then rotate the QR code to face forward.", + "Employ the left arm to seize the tabletop-sized payment sign, raise it, and rotate it QR-forward", + "Take the gray slanted panel with text, raise it, and make the qrcode face you.", + "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.", + "Locate the slanted gray panel for QR code scan, pick it up, and adjust its angle.", + "Lift the small black stand for payments and rotate for its qrcode to face you.", + "Grab the green payment logo on gray top, lift it from the table, and rotate it QR front", + "Pick the tabletop-sized payment sign up, rotate it, and ensure the QR code faces you.", + "Lift the paymentsign from the table and rotate it towards you", + "Lift the payment sign with green logo and rotate until its qrcode faces you.", + "Grab the payment sign with angled face using the left arm, lift, and rotate until QR code faces you.", + "Use the left arm to grab the payment sign with angled face, lift, and turn it QR code forward", + "Catch the small payment stand with black base, pick it up, and rotate to show the QR code.", + "Slide the black base with tilted gray panel off the table and turn it to face you.", + "Lift the gray top with QR code from the surface and adjust its angle towards you", + "Catch the gray slanted panel with text, raise it, and turn it so the QR code faces you", + "Pick the triangular stand with QR code up, then rotate to make its qrcode visible." + ], + "unseen": [ + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black triangular stand off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black triangular stand from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black stand with angled display, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the QR code payment sign, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the QR code payment sign up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the QR code payment sign, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the black stand with angled display on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the black triangular stand from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black stand with angled display, lift it, and rotate to see the qrcode.", + "Pick the QR code payment sign off the table using the left arm and rotate it.", + "Pick up the black stand with angled display and rotate it to face its QR code toward you.", + "Catch the QR code payment sign on the table and pick it up.", + "Pick the black triangular stand up from the table and rotate it.", + "Catch the black stand with angled display from the table and make it face you.", + "Grab the black triangular stand, lift it, and rotate until the QR code faces you.", + "Catch the QR code payment sign from the table and rotate it", + "Pick up the black stand with angled display and rotate it facing you.", + "Grab the QR code payment sign, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the black triangular stand and rotate it to face its QR code toward you.", + "Catch the black triangular stand on the table and pick it up.", + "Pick the black stand with angled display up from the table and rotate it.", + "Catch the QR code payment sign from the table and make it face you.", + "Grab the black stand with angled display, lift it, and rotate until the QR code faces you.", + "Catch the black stand with angled display from the table and rotate it", + "Pick up the black triangular stand and rotate it facing you.", + "Grab the black triangular stand, lift it, and turn it to face you", + "Grab the black triangular stand, lift it, and rotate to see the qrcode.", + "Pick the black stand with angled display off the table using the left arm and rotate it.", + "Pick up the QR code payment sign and rotate it to face its QR code toward you." + ] +} \ No newline at end of file diff --git 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