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a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/config.yml b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..7f56914cd8ccc41af8a325f1d2253a87c4f6ec60 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/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/lift_pot/ARX-X5/meta/info.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..e2c3732d26c5eceacfe274c27901ae585575274e --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/info.json @@ -0,0 +1,62 @@ +{ + "task": "lift_pot", + "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/lift_pot/ARX-X5/meta/instructions/episode0.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..8d60ac74f4026db71cfe5adc93abc814a39e9570 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Take hold of the metal kitchenpot and lift up", + "Raise the dark gray stove kitchenpot upward with both hands", + "Use both arms to raise the smooth gray kitchenpot.", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Raise the gray kitchenpot evenly with arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Securely lift the round kitchenpot with handles together", + "Lift the gray kitchenpot steadily with support", + "Lift the smooth gray kitchenpot up together", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Hold and raise the round kitchenpot with handles together", + "Grab the cylindrical kitchenpot and lift together", + "Lift the gray kitchenpot upward and hold it", + "Place hands on the round kitchenpot with handles, then lift.", + "Hold the round kitchenpot with handles firmly and lift it", + "Raise the gray kitchenpot together with arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the smooth gray kitchenpot with strong support", + "Pick up the smooth gray kitchenpot with both arms", + "Hold the gray kitchenpot and lift upward", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Lift the medium kitchenpot made of metal upward with both arms", + "Raise and hold the medium-sized kitchenpot together", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Both arms lift the medium-sized kitchenpot upright", + "Hold the smooth gray kitchenpot with both arms", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Raise the round kitchenpot with handles together using arms", + "Use arms to lift the smooth gray kitchenpot upward", + "Secure the smooth gray kitchenpot and lift upward.", + "Lift the cylindrical kitchenpot upwards with care", + "Grip the round kitchenpot with handles firmly and lift", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Bring the metal kitchenpot upwards together", + "Raise the cooking kitchenpot with side grips using both arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Secure the metal kitchenpot and lift it up", + "Carry the kitchenpot with smooth exterior securely using arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Hold the medium-sized kitchenpot firmly and move upward.", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Grab the cylindrical kitchenpot using both arms", + "Use both arms to raise the metal kitchenpot", + "Lift the medium kitchenpot made of metal carefully using arms", + "Grab the round kitchenpot with handles and lift it up", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Take hold of the medium-sized kitchenpot and lift up", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Use both arms to raise the cylindrical kitchenpot.", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Raise the cylindrical kitchenpot evenly with arms", + "Bring the round kitchenpot with handles up together", + "Securely lift the kitchenpot with smooth exterior together", + "Lift the medium-sized kitchenpot steadily with support", + "Lift the gray cylindrical metal kitchenpot up together", + "Lift the smooth gray kitchenpot up using your arms", + "Support the cooking kitchenpot with side grips and raise it upward", + "Hold and raise the metal kitchenpot together", + "Grab the smooth gray kitchenpot and lift together", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Raise the medium kitchenpot made of metal together with arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the medium kitchenpot made of metal with strong support", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Hold the cylindrical kitchenpot and lift upward", + "Grab the smooth gray kitchenpot and lift it upwards", + "Lift the gray kitchenpot upward with both arms", + "Raise and hold the kitchenpot with smooth exterior together", + "Lift the cylindrical kitchenpot steadily using arms", + "Both arms lift the metal kitchenpot upright", + "Hold the round kitchenpot with handles with both arms", + "Pick up the gray kitchenpot with careful lifting", + "Raise the cooking kitchenpot with side grips together using arms", + "Use arms to lift the cylindrical kitchenpot upward", + "Secure the dark gray stove kitchenpot and lift upward.", + "Lift the cooking kitchenpot with side grips upwards with care", + "Grip the medium kitchenpot made of metal firmly and lift", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Bring the dark gray stove kitchenpot upwards together", + "Raise the cooking kitchenpot with side grips using both arms", + "Raise the medium kitchenpot made of metal steadily using arms", + "Secure the round kitchenpot with handles and lift it up", + "Carry the metal kitchenpot securely using arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Hold the metal kitchenpot firmly and move upward.", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Grab the metal kitchenpot using both arms", + "Use both arms to raise the medium-sized kitchenpot", + "Lift the cylindrical kitchenpot carefully using arms", + "Grab the kitchenpot with smooth exterior and lift it up" + ], + "unseen": [ + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode1.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..45bdbd487a9ab52dd9911a9e56eb71ea3d8a7fad --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the kitchenpot for boiling and cooking using both arms", + "Raise the metal kitchenpot with strong support", + "Grasp the round kitchenpot with handles and elevate together.", + "Grab the kitchenpot with smooth exterior and lift together", + "Raise the cooking kitchenpot with side grips using both arms", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Raise the cylindrical kitchenpot upward with both hands", + "Lift the gray kitchenpot steadily using arms", + "Raise the dark gray stove kitchenpot together using arms", + "Raise the medium kitchenpot made of metal evenly with arms", + "Secure the gray kitchenpot and lift upward.", + "Raise the medium kitchenpot made of metal together with arms", + "Hold the gray kitchenpot firmly and move upward.", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Hold the medium kitchenpot made of metal firmly with arms", + "Take hold of the round kitchenpot with handles and lift up", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Bring the cooking kitchenpot with side grips up together", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Raise the metal kitchenpot steadily using arms", + "Lift the smooth gray kitchenpot carefully using arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Pick up the medium kitchenpot made of metal with both arms", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Lift the medium kitchenpot made of metal steadily with support", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Use both arms to raise the gray kitchenpot", + "Hold the medium-sized kitchenpot and lift upward", + "Support the round kitchenpot with handles and raise it upward", + "Grab the cooking kitchenpot with side grips and lift it up", + "Secure the kitchenpot with smooth exterior and lift it up", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Lift the cylindrical kitchenpot up using your arms", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Hold and raise the medium-sized kitchenpot together", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Raise and hold the kitchenpot for boiling and cooking together", + "Lift the medium kitchenpot made of metal up together", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Hold and raise the dark gray stove kitchenpot together", + "Carry the smooth gray kitchenpot securely using arms", + "Bring the smooth gray kitchenpot upwards together", + "Securely lift the medium kitchenpot made of metal together", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Hold the kitchenpot for boiling and cooking with both arms", + "Grab the dark gray stove kitchenpot using both arms", + "Raise the dark gray stove kitchenpot with strong support", + "Grasp the metal kitchenpot and elevate together.", + "Grab the medium kitchenpot made of metal and lift together", + "Raise the cylindrical kitchenpot using both arms", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Raise the smooth gray kitchenpot upward with both hands", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Raise the cooking kitchenpot with side grips together using arms", + "Raise the round kitchenpot with handles evenly with arms", + "Secure the gray kitchenpot and lift upward.", + "Raise the smooth gray kitchenpot together with arms", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Pick up the metal kitchenpot with careful lifting", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Take hold of the dark gray stove kitchenpot and lift up", + "Use both arms to raise the medium kitchenpot made of metal.", + "Bring the medium kitchenpot made of metal up together", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Raise the metal kitchenpot steadily using arms", + "Lift the medium kitchenpot made of metal carefully using arms", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Pick up the cylindrical kitchenpot with both arms", + "Use arms to lift the gray kitchenpot upward", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Lift the smooth gray kitchenpot upward with both arms", + "Raise the kitchenpot with smooth exterior securely with arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Support the metal kitchenpot and raise it upward", + "Grab the medium-sized kitchenpot and lift it up", + "Secure the gray kitchenpot and lift it up", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Grab the medium-sized kitchenpot and lift it upwards", + "Lift the medium kitchenpot made of metal up using your arms", + "Lift the gray kitchenpot upwards with care", + "Hold and raise the cooking kitchenpot with side grips together", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Both arms lift the kitchenpot with smooth exterior upright", + "Raise and hold the kitchenpot with smooth exterior together", + "Lift the kitchenpot for boiling and cooking up together", + "Grip the round kitchenpot with handles firmly and lift", + "Hold and raise the smooth gray kitchenpot together", + "Carry the gray kitchenpot securely using arms", + "Bring the cylindrical kitchenpot upwards together", + "Securely lift the cooking kitchenpot with side grips together", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Hold the cylindrical kitchenpot with both arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode10.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..7ec48758deae3c8ed15667023237616c2587da1b --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the medium kitchenpot made of metal together with arms", + "Lift the gray kitchenpot steadily using arms", + "Raise and hold the metal kitchenpot together", + "Bring the cooking kitchenpot with side grips up together", + "Raise the kitchenpot for boiling and cooking using both arms", + "Hold and raise the gray kitchenpot together", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Lift the round kitchenpot with handles up using your arms", + "Hold the round kitchenpot with handles firmly, then lift.", + "Lift the smooth gray kitchenpot upwards with care", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Use both arms to raise the smooth gray kitchenpot", + "Bring the round kitchenpot with handles upwards together", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Grab the medium-sized kitchenpot and lift it up", + "Raise the cylindrical kitchenpot evenly with arms", + "Raise the medium-sized kitchenpot securely with arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Lift the medium kitchenpot made of metal up together", + "Raise the gray kitchenpot with strong support", + "Hold the dark gray stove kitchenpot and lift upward", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Grab the cooking kitchenpot with side grips and lift together", + "Grab the medium-sized kitchenpot using both arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Secure the round kitchenpot with handles and lift upward.", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Pick up the medium-sized kitchenpot with careful lifting", + "Grip the round kitchenpot with handles firmly and lift", + "Hold the medium-sized kitchenpot with both arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Securely lift the medium-sized kitchenpot together", + "Pick up the gray kitchenpot with both arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the gray kitchenpot together using arms", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Carry the medium kitchenpot made of metal securely using arms", + "Use arms to lift the medium kitchenpot made of metal upward", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Lift the round kitchenpot with handles upward and hold it", + "Both arms lift the medium-sized kitchenpot upright", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the medium kitchenpot made of metal steadily with support", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Take hold of the metal kitchenpot and lift up", + "Hold the medium-sized kitchenpot firmly with arms", + "Raise the kitchenpot with smooth exterior together with arms", + "Lift the medium kitchenpot made of metal steadily using arms", + "Raise and hold the medium-sized kitchenpot together", + "Bring the medium-sized kitchenpot up together", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Lift the gray kitchenpot up using your arms", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Lift the medium kitchenpot made of metal upwards with care", + "Place hands on the round kitchenpot with handles, then lift.", + "Use both arms to raise the cylindrical kitchenpot", + "Bring the kitchenpot for boiling and cooking upwards together", + "Lift the medium-sized kitchenpot upward with both arms", + "Grab the smooth gray kitchenpot and lift it up", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise the gray kitchenpot securely with arms", + "Grab the metal kitchenpot and lift it upwards", + "Lift the kitchenpot with smooth exterior up together", + "Raise the round kitchenpot with handles with strong support", + "Hold the kitchenpot with smooth exterior and lift upward", + "Lift the medium-sized kitchenpot using both arms now.", + "Grab the metal kitchenpot and lift together", + "Grab the cooking kitchenpot with side grips using both arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Secure the medium-sized kitchenpot and lift upward.", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Grip the smooth gray kitchenpot firmly and lift", + "Hold the dark gray stove kitchenpot with both arms", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Securely lift the dark gray stove kitchenpot together", + "Pick up the medium-sized kitchenpot with both arms", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Grasp the gray kitchenpot and elevate together.", + "Carry the cylindrical kitchenpot securely using arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Lift the gray kitchenpot upward and hold it", + "Both arms lift the round kitchenpot with handles upright", + "Support the round kitchenpot with handles and raise it upward", + "Secure the round kitchenpot with handles and lift it up", + "Lift the medium kitchenpot made of metal steadily with support", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Take hold of the cylindrical kitchenpot and lift up", + "Hold the kitchenpot with smooth exterior firmly with arms" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode11.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..615e8374535f7cae877799187bf4b0b1ec4c9542 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the cooking kitchenpot with side grips using both arms now.", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Raise and hold the dark gray stove kitchenpot together", + "Grab the round kitchenpot with handles and lift together", + "Place hands on the metal kitchenpot, then lift.", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Lift the gray cylindrical metal kitchenpot up together", + "Grip the round kitchenpot with handles firmly and lift", + "Lift the round kitchenpot with handles up using your arms", + "Take hold of the medium kitchenpot made of metal and lift up", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Raise the round kitchenpot with handles together using arms", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Bring the dark gray stove kitchenpot upwards together", + "Hold the gray kitchenpot firmly, then lift.", + "Raise the metal kitchenpot steadily using arms", + "Use both arms to raise the metal kitchenpot.", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Securely lift the gray kitchenpot together", + "Hold and raise the gray kitchenpot together", + "Raise the dark gray stove kitchenpot evenly with arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Secure the dark gray stove kitchenpot and lift it up", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Use both arms to raise the medium-sized kitchenpot", + "Raise the medium kitchenpot made of metal together with arms", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Hold the kitchenpot for boiling and cooking with both arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Both arms lift the medium kitchenpot made of metal upright", + "Raise the cooking kitchenpot with side grips with strong support", + "Lift the round kitchenpot with handles steadily using arms", + "Raise the gray kitchenpot securely with arms", + "Engage arms to grip and lift the metal kitchenpot.", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Hold the round kitchenpot with handles and lift upward", + "Carry the round kitchenpot with handles securely using arms", + "Lift the smooth gray kitchenpot upwards with care", + "Pick up the cooking kitchenpot with side grips with both arms", + "Lift the cylindrical kitchenpot upward and hold it", + "Grab the gray kitchenpot using both arms", + "Lift the round kitchenpot with handles steadily with support", + "Pick up the metal kitchenpot with careful lifting", + "Bring the medium kitchenpot made of metal up together", + "Lift the dark gray stove kitchenpot using both arms now.", + "Grasp the metal kitchenpot and elevate together.", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Raise and hold the dark gray stove kitchenpot together", + "Grab the round kitchenpot with handles and lift together", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Lift the cylindrical kitchenpot up together", + "Grip the cylindrical kitchenpot firmly and lift", + "Lift the cooking kitchenpot with side grips up using your arms", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Raise the medium kitchenpot made of metal together using arms", + "Raise the round kitchenpot with handles upward with both hands", + "Raise the dark gray stove kitchenpot using both arms", + "Bring the round kitchenpot with handles upwards together", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Raise the medium-sized kitchenpot steadily using arms", + "Use both arms to raise the gray kitchenpot.", + "Hold the smooth gray kitchenpot firmly and lift it", + "Use arms to lift the dark gray stove kitchenpot upward", + "Hold the medium kitchenpot made of metal firmly with arms", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Securely lift the round kitchenpot with handles together", + "Hold and raise the medium-sized kitchenpot together", + "Raise the medium-sized kitchenpot evenly with arms", + "Lift the metal kitchenpot upward with both arms", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Secure the smooth gray kitchenpot and lift it up", + "Grab the smooth gray kitchenpot and lift it up", + "Use both arms to raise the smooth gray kitchenpot", + "Raise the smooth gray kitchenpot together with arms", + "Secure the metal kitchenpot and lift upward.", + "Hold the dark gray stove kitchenpot with both arms", + "Hold and raise the cylindrical kitchenpot together", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Raise the medium-sized kitchenpot with strong support", + "Lift the metal kitchenpot steadily using arms", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Lift the dark gray stove kitchenpot carefully using arms", + "Hold the smooth gray kitchenpot and lift upward", + "Carry the medium kitchenpot made of metal securely using arms", + "Lift the dark gray stove kitchenpot upwards with care", + "Pick up the cylindrical kitchenpot with both arms", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Grab the gray kitchenpot using both arms", + "Lift the metal kitchenpot steadily with support", + "Pick up the gray kitchenpot with careful lifting", + "Bring the round kitchenpot with handles up together" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode12.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..b5058636f4c999dfee455711c27ad724f98a710b --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Pick up the medium-sized kitchenpot with careful lifting", + "Lift the round kitchenpot with handles carefully using both arms.", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Both arms lift the dark gray stove kitchenpot upright", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Bring the cylindrical kitchenpot upwards together", + "Raise the cooking kitchenpot with side grips together with arms", + "Lift the metal kitchenpot steadily with support", + "With arms, raise the metal kitchenpot upward slowly.", + "Grip the cylindrical kitchenpot firmly and lift", + "Lift the cooking kitchenpot with side grips upwards with care", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Secure the dark gray stove kitchenpot and lift it up", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Hold and raise the dark gray stove kitchenpot together", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Carry the medium-sized kitchenpot securely using arms", + "Take hold of the cylindrical kitchenpot and lift up", + "Lift the dark gray stove kitchenpot using both arms now.", + "Hold and raise the cylindrical kitchenpot together", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Raise the kitchenpot with smooth exterior together using arms", + "Hold the dark gray stove kitchenpot and lift upward", + "Place hands on the medium-sized kitchenpot, then lift.", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Use both arms to raise the gray kitchenpot.", + "Raise the cylindrical kitchenpot evenly with arms", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Bring the gray kitchenpot up together", + "Lift the medium-sized kitchenpot carefully using arms", + "Hold the cylindrical kitchenpot with both arms", + "Lift the gray kitchenpot up together", + "Grasp the gray kitchenpot and elevate together.", + "Lift the gray kitchenpot upward and hold it", + "Raise the metal kitchenpot upward with both hands", + "Raise the round kitchenpot with handles using both arms", + "Hold the metal kitchenpot firmly with arms", + "Grab the cylindrical kitchenpot using both arms", + "Raise the cylindrical kitchenpot securely with arms", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Secure the medium kitchenpot made of metal and lift upward.", + "Grab the cooking kitchenpot with side grips and lift together", + "Hold the round kitchenpot with handles firmly and move upward.", + "Pick up the medium-sized kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Use both arms to raise the dark gray stove kitchenpot", + "Raise the metal kitchenpot steadily using arms", + "Securely lift the cylindrical kitchenpot together", + "Support the medium-sized kitchenpot and raise it upward", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Pick up the metal kitchenpot with careful lifting", + "Lift the metal kitchenpot carefully using both arms.", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Both arms lift the cooking kitchenpot with side grips upright", + "Raise and hold the medium-sized kitchenpot together", + "Bring the round kitchenpot with handles upwards together", + "Raise the metal kitchenpot together with arms", + "Lift the cooking kitchenpot with side grips steadily with support", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Grip the smooth gray kitchenpot firmly and lift", + "Lift the cooking kitchenpot with side grips upwards with care", + "Use arms to lift the metal kitchenpot upward", + "Secure the medium kitchenpot made of metal and lift it up", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Carry the cooking kitchenpot with side grips securely using arms", + "Take hold of the round kitchenpot with handles and lift up", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Hold and raise the cylindrical kitchenpot together", + "Raise the kitchenpot with smooth exterior with strong support", + "Raise the kitchenpot for boiling and cooking together using arms", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Grab the metal kitchenpot and lift it upwards", + "Use both arms to raise the smooth gray kitchenpot.", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Lift the medium-sized kitchenpot up using your arms", + "Bring the metal kitchenpot up together", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Hold the smooth gray kitchenpot with both arms", + "Lift the medium-sized kitchenpot up together", + "Grasp the gray kitchenpot and elevate together.", + "Lift the dark gray stove kitchenpot upward and hold it", + "Raise the medium kitchenpot made of metal upward with both hands", + "Raise the kitchenpot for boiling and cooking using both arms", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Grab the medium kitchenpot made of metal using both arms", + "Raise the gray kitchenpot securely with arms", + "Hold the medium-sized kitchenpot firmly and lift it", + "Secure the cylindrical kitchenpot and lift upward.", + "Grab the cylindrical kitchenpot and lift together", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Pick up the metal kitchenpot with both arms", + "Lift the medium kitchenpot made of metal steadily using arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Raise the dark gray stove kitchenpot steadily using arms", + "Securely lift the medium kitchenpot made of metal together", + "Support the kitchenpot for boiling and cooking and raise it upward" + ], + "unseen": [ + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode13.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..ca98818197124131079355fc169dedc3714d429d --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth gray kitchenpot steadily with support", + "Lift the metal kitchenpot upward and hold it", + "Raise the smooth gray kitchenpot together using arms", + "Grab the round kitchenpot with handles using both arms", + "Take hold of the smooth gray kitchenpot and lift up", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Pick up the dark gray stove kitchenpot with both arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Lift the round kitchenpot with handles using both arms now.", + "Raise the medium kitchenpot made of metal steadily using arms", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Raise and hold the medium-sized kitchenpot together", + "Raise the round kitchenpot with handles with strong support", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Grab the metal kitchenpot and lift together", + "Lift the cylindrical kitchenpot carefully using arms", + "Hold and raise the round kitchenpot with handles together", + "Lift the dark gray stove kitchenpot upward with both arms", + "Grasp the metal kitchenpot and elevate together.", + "Raise the kitchenpot with smooth exterior using both arms", + "Secure the medium-sized kitchenpot and lift it up", + "Lift the dark gray stove kitchenpot steadily using arms", + "Hold the medium-sized kitchenpot firmly and lift it", + "Lift the round kitchenpot with handles up using your arms", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Raise the medium kitchenpot made of metal evenly with arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Pick up the round kitchenpot with handles with careful lifting", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Support the round kitchenpot with handles and raise it upward", + "Hold the kitchenpot for boiling and cooking with both arms", + "Lift the gray kitchenpot upwards with care", + "Grip the dark gray stove kitchenpot firmly and lift", + "Carry the cooking kitchenpot with side grips securely using arms", + "Bring the cylindrical kitchenpot up together", + "Lift the smooth gray kitchenpot up together", + "Securely lift the dark gray stove kitchenpot together", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Both arms lift the gray kitchenpot upright", + "Hold the round kitchenpot with handles and lift upward", + "Use both arms to raise the kitchenpot with smooth exterior", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Grab the cylindrical kitchenpot and lift it up", + "Raise the kitchenpot for boiling and cooking together with arms", + "Bring the medium kitchenpot made of metal upwards together", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Lift the dark gray stove kitchenpot upward and hold it", + "Raise the dark gray stove kitchenpot together using arms", + "Grab the kitchenpot for boiling and cooking using both arms", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Pick up the gray kitchenpot with both arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Lift the metal kitchenpot using both arms now.", + "Raise the metal kitchenpot steadily using arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Secure the smooth gray kitchenpot and lift upward.", + "Raise and hold the gray kitchenpot together", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Hold the cylindrical kitchenpot firmly with arms", + "Raise the metal kitchenpot securely with arms", + "Grab the medium kitchenpot made of metal and lift together", + "Lift the smooth gray kitchenpot carefully using arms", + "Hold and raise the gray kitchenpot together", + "Lift the cylindrical kitchenpot upward with both arms", + "Grasp the gray kitchenpot and elevate together.", + "Raise the gray kitchenpot using both arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the metal kitchenpot steadily using arms", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Lift the smooth gray kitchenpot up using your arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Hold and raise the metal kitchenpot together", + "Engage arms to grip and lift the gray kitchenpot.", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Use arms to lift the medium kitchenpot made of metal upward", + "Support the cylindrical kitchenpot and raise it upward", + "Hold the kitchenpot with smooth exterior with both arms", + "Lift the metal kitchenpot upwards with care", + "Grip the medium kitchenpot made of metal firmly and lift", + "Carry the round kitchenpot with handles securely using arms", + "Bring the medium kitchenpot made of metal up together", + "Lift the gray cylindrical metal kitchenpot up together", + "Securely lift the kitchenpot for boiling and cooking together", + "Use both arms to raise the cylindrical kitchenpot.", + "Both arms lift the metal kitchenpot upright", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Use both arms to raise the round kitchenpot with handles", + "Hold the metal kitchenpot firmly, then lift.", + "Grab the metal kitchenpot and lift it up", + "Raise the smooth gray kitchenpot together with arms", + "Bring the smooth gray kitchenpot upwards together" + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode14.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..f5c2a8e351a6e429b98d01fe959405125a9599f1 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Bring the medium kitchenpot made of metal upwards together", + "Place hands on the round kitchenpot with handles, then lift.", + "Raise the medium kitchenpot made of metal securely with arms", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Support the cooking kitchenpot with side grips and raise it upward", + "Use arms to lift the medium kitchenpot made of metal upward", + "Lift the gray kitchenpot upwards with care", + "Grab the cooking kitchenpot with side grips and lift it up", + "Securely lift the medium-sized kitchenpot together", + "Lift the dark gray stove kitchenpot steadily with support", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Raise the cooking kitchenpot with side grips with strong support", + "Both arms lift the medium-sized kitchenpot upright", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Use both arms to raise the cylindrical kitchenpot", + "Raise and hold the medium-sized kitchenpot together", + "Hold the gray kitchenpot with both arms", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Raise the gray kitchenpot upward with both hands", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Bring the medium-sized kitchenpot up together", + "Hold and raise the medium kitchenpot made of metal together", + "Secure the smooth gray kitchenpot and lift upward.", + "Grab the cooking kitchenpot with side grips and lift together", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Lift the metal kitchenpot up using your arms", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Hold the round kitchenpot with handles firmly and lift it", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Lift the round kitchenpot with handles upward with both arms", + "Raise the gray kitchenpot steadily using arms", + "Grab the medium-sized kitchenpot using both arms", + "Raise the round kitchenpot with handles using both arms", + "Lift the gray kitchenpot up together", + "Raise the kitchenpot for boiling and cooking together with arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Secure the gray kitchenpot and lift it up", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Hold and raise the kitchenpot with smooth exterior together", + "Hold the metal kitchenpot firmly, then lift.", + "Raise the gray kitchenpot together using arms", + "Bring the medium kitchenpot made of metal upwards together", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Raise the smooth gray kitchenpot securely with arms", + "Lift the cylindrical kitchenpot carefully using arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Support the medium kitchenpot made of metal and raise it upward", + "Use arms to lift the round kitchenpot with handles upward", + "Lift the metal kitchenpot upwards with care", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Securely lift the kitchenpot for boiling and cooking together", + "Lift the medium kitchenpot made of metal steadily with support", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Both arms lift the round kitchenpot with handles upright", + "Hold the metal kitchenpot firmly with arms", + "Use both arms to raise the kitchenpot with smooth exterior.", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Use both arms to raise the kitchenpot with smooth exterior", + "Raise and hold the kitchenpot with smooth exterior together", + "Hold the cylindrical kitchenpot with both arms", + "Hold the gray kitchenpot and lift upward", + "Raise the dark gray stove kitchenpot upward with both hands", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Grip the dark gray stove kitchenpot firmly and lift", + "Pick up the gray kitchenpot with both arms", + "Bring the kitchenpot with smooth exterior up together", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Secure the metal kitchenpot and lift upward.", + "Grab the kitchenpot with smooth exterior and lift together", + "Lift the medium kitchenpot made of metal steadily using arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Lift the smooth gray kitchenpot up using your arms", + "Carry the round kitchenpot with handles securely using arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Hold the round kitchenpot with handles firmly and lift it", + "Lift the round kitchenpot with handles carefully using both arms.", + "Lift the metal kitchenpot upward with both arms", + "Raise the medium kitchenpot made of metal steadily using arms", + "Grab the dark gray stove kitchenpot using both arms", + "Raise the kitchenpot with smooth exterior using both arms", + "Lift the smooth gray kitchenpot up together", + "Raise the gray kitchenpot together with arms", + "Raise the dark gray stove kitchenpot evenly with arms", + "Secure the cylindrical kitchenpot and lift it up", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Hold and raise the round kitchenpot with handles together", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Raise the round kitchenpot with handles together using arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode15.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..c6c4bc0e86f84f02155d79be51062b2125187b58 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the dark gray stove kitchenpot and lift upward", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Grasp the metal kitchenpot and elevate together.", + "Lift the metal kitchenpot steadily with support", + "Hold and raise the cylindrical kitchenpot together", + "Secure the round kitchenpot with handles and lift it up", + "Pick up the medium kitchenpot made of metal with both arms", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Raise and hold the metal kitchenpot together", + "Support the dark gray stove kitchenpot and raise it upward", + "Use arms to lift the gray kitchenpot upward", + "Hold the gray kitchenpot with both arms", + "Grab the cylindrical kitchenpot and lift it up", + "Place hands on the smooth gray kitchenpot, then lift.", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Grip the metal kitchenpot firmly and lift", + "Lift the medium-sized kitchenpot upwards with care", + "Hold and raise the gray kitchenpot together", + "Grab the cooking kitchenpot with side grips using both arms", + "Hold the round kitchenpot with handles firmly, then lift.", + "Raise the cylindrical kitchenpot together with arms", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Raise the kitchenpot for boiling and cooking using both arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Secure the medium-sized kitchenpot and lift upward.", + "Raise the dark gray stove kitchenpot securely with arms", + "Bring the dark gray stove kitchenpot upwards together", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Carry the cooking kitchenpot with side grips securely using arms", + "Securely lift the kitchenpot with smooth exterior together", + "Raise the kitchenpot for boiling and cooking with strong support", + "Use both arms to raise the kitchenpot with smooth exterior", + "Raise the medium-sized kitchenpot evenly with arms", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Both arms lift the kitchenpot with smooth exterior upright", + "Lift the cooking kitchenpot with side grips up using your arms", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Hold the metal kitchenpot firmly and move upward.", + "Bring the medium kitchenpot made of metal up together", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Use both arms to raise the cylindrical kitchenpot.", + "With arms, raise the gray kitchenpot upward slowly.", + "Raise the smooth gray kitchenpot upward with both hands", + "Lift the medium-sized kitchenpot steadily using arms", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Lift the cooking kitchenpot with side grips up together", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Engage arms to grip and lift the gray kitchenpot.", + "Grasp the cylindrical kitchenpot and elevate together.", + "Lift the medium-sized kitchenpot steadily with support", + "Hold and raise the smooth gray kitchenpot together", + "Secure the cylindrical kitchenpot and lift it up", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the medium kitchenpot made of metal carefully using arms", + "Raise and hold the kitchenpot with smooth exterior together", + "Support the medium-sized kitchenpot and raise it upward", + "Use arms to lift the cylindrical kitchenpot upward", + "Hold the medium-sized kitchenpot with both arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Lift the medium-sized kitchenpot using both arms now.", + "Grip the medium kitchenpot made of metal firmly and lift", + "Lift the smooth gray kitchenpot upwards with care", + "Hold and raise the medium-sized kitchenpot together", + "Grab the smooth gray kitchenpot using both arms", + "Hold the metal kitchenpot firmly, then lift.", + "Raise the round kitchenpot with handles together with arms", + "Raise the metal kitchenpot steadily using arms", + "Raise the kitchenpot for boiling and cooking using both arms", + "Hold the cylindrical kitchenpot firmly and lift it", + "Hold the cylindrical kitchenpot firmly with arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Secure the medium-sized kitchenpot and lift upward.", + "Raise the cooking kitchenpot with side grips securely with arms", + "Bring the kitchenpot with smooth exterior upwards together", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Securely lift the smooth gray kitchenpot together", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Use both arms to raise the medium-sized kitchenpot", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Grab the cylindrical kitchenpot and lift together", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Lift the metal kitchenpot up using your arms", + "Raise the metal kitchenpot together using arms", + "Hold the metal kitchenpot firmly and move upward.", + "Bring the kitchenpot for boiling and cooking up together", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Use both arms to raise the gray kitchenpot.", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Raise the round kitchenpot with handles upward with both hands", + "Lift the medium kitchenpot made of metal steadily using arms", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Lift the round kitchenpot with handles up together" + ], + "unseen": [ + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode16.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..3d72da85b440779cde7c7159661b55e66940419b --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the round kitchenpot with handles upward with both hands", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Use both arms to raise the dark gray stove kitchenpot", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise the medium-sized kitchenpot evenly with arms", + "Grab the medium-sized kitchenpot and lift together", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Raise the gray kitchenpot securely with arms", + "Support the medium kitchenpot made of metal and raise it upward", + "Bring the cooking kitchenpot with side grips upwards together", + "Secure the medium-sized kitchenpot and lift it up", + "Raise the gray kitchenpot using both arms", + "Lift the smooth gray kitchenpot steadily with support", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Raise the round kitchenpot with handles with strong support", + "Carry the cylindrical kitchenpot securely using arms", + "Securely lift the round kitchenpot with handles together", + "Hold the gray kitchenpot firmly, then lift.", + "Hold the cylindrical kitchenpot firmly with arms", + "Lift the gray kitchenpot steadily using arms", + "Lift the smooth gray kitchenpot upwards with care", + "Grab the medium-sized kitchenpot using both arms", + "Pick up the round kitchenpot with handles with both arms", + "Hold the kitchenpot for boiling and cooking with both arms", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Lift the round kitchenpot with handles upward with both arms", + "Lift the kitchenpot with smooth exterior up using your arms", + "Secure the metal kitchenpot and lift upward.", + "Raise and hold the cylindrical kitchenpot together", + "Lift the kitchenpot for boiling and cooking up together", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Raise the cylindrical kitchenpot together with arms", + "Hold the round kitchenpot with handles and lift upward", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Lift the gray kitchenpot carefully using arms", + "Bring the cooking kitchenpot with side grips up together", + "Hold and raise the round kitchenpot with handles together", + "Raise the gray kitchenpot steadily using arms", + "Hold the metal kitchenpot firmly and lift it", + "Grab the gray kitchenpot and lift it up", + "Raise the dark gray stove kitchenpot together using arms", + "Grab the gray kitchenpot and lift it upwards", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Take hold of the medium kitchenpot made of metal and lift up", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Lift the medium-sized kitchenpot using both arms now.", + "Raise the medium kitchenpot made of metal upward with both hands", + "Lift the round kitchenpot with handles upward and hold it", + "Use both arms to raise the round kitchenpot with handles.", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Use arms to lift the smooth gray kitchenpot upward", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Grab the gray kitchenpot and lift together", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Raise the medium kitchenpot made of metal securely with arms", + "Support the metal kitchenpot and raise it upward", + "Bring the smooth gray kitchenpot upwards together", + "Secure the cylindrical kitchenpot and lift it up", + "Raise the cylindrical kitchenpot using both arms", + "Lift the medium-sized kitchenpot steadily with support", + "Grasp the cylindrical kitchenpot and elevate together.", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Carry the cooking kitchenpot with side grips securely using arms", + "Securely lift the metal kitchenpot together", + "Hold the round kitchenpot with handles firmly, then lift.", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Lift the smooth gray kitchenpot upwards with care", + "Grab the medium kitchenpot made of metal using both arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "Hold the round kitchenpot with handles with both arms", + "Both arms lift the medium kitchenpot made of metal upright", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Pick up the smooth gray kitchenpot with careful lifting", + "Lift the medium kitchenpot made of metal upward with both arms", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Secure the medium kitchenpot made of metal and lift upward.", + "Raise and hold the cooking kitchenpot with side grips together", + "Lift the gray kitchenpot up together", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Raise the cooking kitchenpot with side grips together with arms", + "Hold the medium-sized kitchenpot and lift upward", + "Engage arms to grip and lift the metal kitchenpot.", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Bring the medium-sized kitchenpot up together", + "Hold and raise the dark gray stove kitchenpot together", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Hold the smooth gray kitchenpot firmly and lift it", + "Grab the metal kitchenpot and lift it up", + "Raise the kitchenpot with smooth exterior together using arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Place hands on the metal kitchenpot, then lift.", + "Take hold of the medium-sized kitchenpot and lift up", + "Grip the medium-sized kitchenpot firmly and lift", + "Lift the smooth gray kitchenpot using both arms now." + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode17.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..15d776d85ad67aeee9489f0151f47c4e793b7038 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With arms, raise the metal kitchenpot upward slowly.", + "Hold the round kitchenpot with handles firmly, then lift.", + "Grab the kitchenpot with smooth exterior and lift it up", + "Lift the smooth gray kitchenpot upwards with care", + "Lift the gray kitchenpot up using your arms", + "Lift the medium-sized kitchenpot up together", + "Hold the metal kitchenpot firmly with arms", + "Raise the gray kitchenpot steadily using arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Use arms to lift the medium-sized kitchenpot upward", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Both arms lift the cylindrical kitchenpot upright", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Secure the cylindrical kitchenpot and lift it up", + "Bring the smooth gray kitchenpot upwards together", + "Grab the medium kitchenpot made of metal and lift together", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Take hold of the medium kitchenpot made of metal and lift up", + "Hold and raise the medium-sized kitchenpot together", + "Bring the metal kitchenpot up together", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Raise the smooth gray kitchenpot using both arms", + "Raise the smooth gray kitchenpot together with arms", + "Securely lift the round kitchenpot with handles together", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Raise the medium kitchenpot made of metal with strong support", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Raise the medium kitchenpot made of metal upward with both hands", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Hold the kitchenpot with smooth exterior and lift upward", + "Hold and raise the gray kitchenpot together", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Pick up the metal kitchenpot with both arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Hold the metal kitchenpot with both arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Use both arms to raise the medium-sized kitchenpot", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Use both arms to raise the gray kitchenpot.", + "Lift the metal kitchenpot upward and hold it", + "Secure the smooth gray kitchenpot and lift upward.", + "Raise and hold the round kitchenpot with handles together", + "Raise the cylindrical kitchenpot together using arms", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Raise the round kitchenpot with handles securely with arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Lift the dark gray stove kitchenpot carefully using arms", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Grab the gray kitchenpot and lift it up", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Lift the kitchenpot with smooth exterior up using your arms", + "Lift the smooth gray kitchenpot up together", + "Hold the medium kitchenpot made of metal firmly with arms", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Place hands on the metal kitchenpot, then lift.", + "Use arms to lift the cylindrical kitchenpot upward", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Raise the cylindrical kitchenpot evenly with arms", + "Secure the round kitchenpot with handles and lift it up", + "Bring the kitchenpot with smooth exterior upwards together", + "Grab the medium kitchenpot made of metal and lift together", + "Hold the medium-sized kitchenpot firmly and lift it", + "Grab the medium-sized kitchenpot and lift it upwards", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Hold and raise the medium-sized kitchenpot together", + "Bring the round kitchenpot with handles up together", + "Pick up the cylindrical kitchenpot with careful lifting", + "Raise the medium-sized kitchenpot using both arms", + "Raise the metal kitchenpot together with arms", + "Securely lift the dark gray stove kitchenpot together", + "Lift the medium kitchenpot made of metal steadily using arms", + "Raise the metal kitchenpot with strong support", + "Grab the metal kitchenpot using both arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Raise the smooth gray kitchenpot upward with both hands", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Hold the metal kitchenpot and lift upward", + "Hold and raise the dark gray stove kitchenpot together", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Pick up the gray kitchenpot with both arms", + "Lift the medium-sized kitchenpot steadily with support", + "Hold the medium-sized kitchenpot with both arms", + "Lift the gray kitchenpot upward with both arms", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Grasp the cylindrical kitchenpot and elevate together.", + "Use both arms to raise the cylindrical kitchenpot.", + "Lift the gray kitchenpot upward and hold it", + "Secure the cylindrical kitchenpot and lift upward.", + "Raise and hold the round kitchenpot with handles together", + "Raise the cylindrical kitchenpot together using arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Lift the cooking kitchenpot with side grips carefully using arms" + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode18.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..3e54dc9375425aa771de831b9fbebfab046f02cb --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the dark gray stove kitchenpot upward with both hands", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Lift the round kitchenpot with handles upwards with care", + "Grab the smooth gray kitchenpot using both arms", + "Use arms to lift the metal kitchenpot upward", + "Raise the metal kitchenpot together with arms", + "Secure the smooth gray kitchenpot and lift it up", + "Lift the smooth gray kitchenpot carefully using arms", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Carry the cooking kitchenpot with side grips securely using arms", + "Place hands on the metal kitchenpot, then lift.", + "Hold and raise the cylindrical kitchenpot together", + "Use both arms to raise the round kitchenpot with handles.", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Both arms lift the smooth gray kitchenpot upright", + "Support the round kitchenpot with handles and raise it upward", + "Hold and raise the metal kitchenpot together", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Raise the medium kitchenpot made of metal securely with arms", + "Hold the medium-sized kitchenpot firmly with arms", + "Lift the gray kitchenpot carefully using both arms.", + "Lift the smooth gray kitchenpot upward and hold it", + "Pick up the metal kitchenpot with careful lifting", + "Bring the kitchenpot for boiling and cooking up together", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Hold the gray kitchenpot firmly and lift it", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Lift the cooking kitchenpot with side grips up using your arms", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Hold the cooking kitchenpot with side grips with both arms", + "Securely lift the round kitchenpot with handles together", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Raise the medium kitchenpot made of metal together using arms", + "Hold the medium kitchenpot made of metal and lift upward", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Raise the round kitchenpot with handles with strong support", + "Pick up the cooking kitchenpot with side grips with both arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Raise and hold the kitchenpot for boiling and cooking together", + "Bring the round kitchenpot with handles upwards together", + "Lift the cooking kitchenpot with side grips up together", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Raise the round kitchenpot with handles upward with both hands", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Grab the smooth gray kitchenpot and lift it up", + "Lift the round kitchenpot with handles upwards with care", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Raise the cooking kitchenpot with side grips together with arms", + "Secure the gray kitchenpot and lift it up", + "Lift the round kitchenpot with handles carefully using arms", + "Secure the medium kitchenpot made of metal and lift upward.", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Hold and raise the gray kitchenpot together", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Hold the gray kitchenpot firmly, then lift.", + "Both arms lift the cylindrical kitchenpot upright", + "Support the kitchenpot with smooth exterior and raise it upward", + "Hold and raise the kitchenpot for boiling and cooking together", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Raise the cylindrical kitchenpot securely with arms", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Lift the smooth gray kitchenpot upward and hold it", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Bring the kitchenpot with smooth exterior up together", + "Lift the dark gray stove kitchenpot using both arms now.", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Raise the smooth gray kitchenpot using both arms", + "Raise the gray kitchenpot steadily using arms", + "Lift the metal kitchenpot up using your arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Hold the metal kitchenpot with both arms", + "Securely lift the gray cylindrical metal kitchenpot together", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Raise the dark gray stove kitchenpot together using arms", + "Hold the medium kitchenpot made of metal and lift upward", + "Lift the medium kitchenpot made of metal steadily using arms", + "Raise the gray kitchenpot with strong support", + "Pick up the gray kitchenpot with both arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Grab the round kitchenpot with handles and lift together", + "Raise and hold the dark gray stove kitchenpot together", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Lift the medium kitchenpot made of metal up together", + "Lift the smooth gray kitchenpot steadily with support", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Grasp the metal kitchenpot and elevate together.", + "Raise the dark gray stove kitchenpot evenly with arms" + ], + "unseen": [ + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode19.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..bda70f317bbba9d92b59128fa0913a81d51365f4 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark gray stove kitchenpot carefully using arms", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Support the metal kitchenpot and raise it upward", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Both arms lift the kitchenpot with smooth exterior upright", + "Hold and raise the gray kitchenpot together", + "Hold and raise the kitchenpot with smooth exterior together", + "Bring the kitchenpot for boiling and cooking up together", + "Bring the cylindrical kitchenpot upwards together", + "Lift the medium kitchenpot made of metal using both arms now.", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Raise the round kitchenpot with handles together using arms", + "Pick up the metal kitchenpot with both arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Raise the medium kitchenpot made of metal together with arms", + "Lift the dark gray stove kitchenpot steadily with support", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Raise the cooking kitchenpot with side grips securely with arms", + "Use both arms to raise the round kitchenpot with handles.", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Lift the round kitchenpot with handles upwards with care", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Lift the medium-sized kitchenpot upward with both arms", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Securely lift the smooth gray kitchenpot together", + "Lift the dark gray stove kitchenpot up using your arms", + "Secure the round kitchenpot with handles and lift upward.", + "Lift the medium kitchenpot made of metal up together", + "Secure the smooth gray kitchenpot and lift it up", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Raise and hold the smooth gray kitchenpot together", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Raise the smooth gray kitchenpot evenly with arms", + "Engage arms to grip and lift the metal kitchenpot.", + "Hold the dark gray stove kitchenpot and lift upward", + "Raise the kitchenpot with smooth exterior with strong support", + "Raise the dark gray stove kitchenpot upward with both hands", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Carry the medium-sized kitchenpot securely using arms", + "Hold the metal kitchenpot with both arms", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "With arms, raise the gray kitchenpot upward slowly.", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Grasp the round kitchenpot with handles and elevate together.", + "Lift the gray kitchenpot carefully using arms", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Support the smooth gray kitchenpot and raise it upward", + "Hold the medium-sized kitchenpot firmly with arms", + "Raise the medium kitchenpot made of metal steadily using arms", + "Grab the medium-sized kitchenpot and lift together", + "Both arms lift the cooking kitchenpot with side grips upright", + "Hold and raise the dark gray stove kitchenpot together", + "Hold and raise the medium kitchenpot made of metal together", + "Bring the medium-sized kitchenpot up together", + "Bring the metal kitchenpot upwards together", + "Lift the gray kitchenpot using both arms now.", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Raise the medium kitchenpot made of metal together using arms", + "Pick up the medium kitchenpot made of metal with both arms", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Raise the dark gray stove kitchenpot using both arms", + "Raise the gray kitchenpot together with arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Raise the medium kitchenpot made of metal securely with arms", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Lift the gray kitchenpot upward and hold it", + "Grab the gray kitchenpot and lift it up", + "Lift the metal kitchenpot upwards with care", + "Use arms to lift the metal kitchenpot upward", + "Lift the cylindrical kitchenpot upward with both arms", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Securely lift the kitchenpot with smooth exterior together", + "Lift the cooking kitchenpot with side grips up using your arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Lift the cooking kitchenpot with side grips up together", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the medium kitchenpot made of metal steadily using arms", + "Raise and hold the cooking kitchenpot with side grips together", + "Grip the cylindrical kitchenpot firmly and lift", + "Take hold of the smooth gray kitchenpot and lift up", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Raise the round kitchenpot with handles evenly with arms", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Hold the medium kitchenpot made of metal and lift upward", + "Raise the kitchenpot for boiling and cooking with strong support", + "Raise the cylindrical kitchenpot upward with both hands", + "Grab the medium-sized kitchenpot and lift it upwards", + "Carry the metal kitchenpot securely using arms", + "Hold the metal kitchenpot with both arms", + "Lift the metal kitchenpot carefully using both arms.", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Grasp the gray kitchenpot and elevate together." + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode2.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..cca8ab676623fa2042284af9873f3970486548e5 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the dark gray stove kitchenpot upwards with care", + "Secure the gray kitchenpot and lift upward.", + "Raise the metal kitchenpot using both arms", + "Grab the smooth gray kitchenpot and lift it up", + "Take hold of the smooth gray kitchenpot and lift up", + "Lift the metal kitchenpot carefully using arms", + "Grab the kitchenpot for boiling and cooking and lift together", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Use arms to lift the metal kitchenpot upward", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Lift the metal kitchenpot up together", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Hold the metal kitchenpot with both arms", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Grasp the medium-sized kitchenpot and elevate together.", + "Secure the medium-sized kitchenpot and lift it up", + "Lift the round kitchenpot with handles upward with both arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Raise the metal kitchenpot together with arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Raise the medium kitchenpot made of metal securely with arms", + "Securely lift the gray kitchenpot together", + "Grab the gray kitchenpot using both arms", + "Use both arms to raise the cylindrical kitchenpot.", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Raise the metal kitchenpot steadily using arms", + "Hold the metal kitchenpot firmly, then lift.", + "Hold the medium-sized kitchenpot firmly and lift it", + "Lift the smooth gray kitchenpot using both arms now.", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Hold the smooth gray kitchenpot and lift upward", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Bring the kitchenpot with smooth exterior upwards together", + "Bring the medium-sized kitchenpot up together", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Both arms lift the dark gray stove kitchenpot upright", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the gray kitchenpot evenly with arms", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Pick up the cylindrical kitchenpot with both arms", + "Lift the round kitchenpot with handles upwards with care", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Raise the gray kitchenpot using both arms", + "Grab the kitchenpot with smooth exterior and lift it up", + "Take hold of the medium-sized kitchenpot and lift up", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Grab the smooth gray kitchenpot and lift together", + "Raise the kitchenpot for boiling and cooking together using arms", + "Use arms to lift the medium kitchenpot made of metal upward", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Lift the cylindrical kitchenpot up together", + "Grip the cylindrical kitchenpot firmly and lift", + "Lift the cylindrical kitchenpot steadily using arms", + "Support the round kitchenpot with handles and raise it upward", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the gray kitchenpot upward and hold it", + "Hold the metal kitchenpot with both arms", + "Carry the metal kitchenpot securely using arms", + "Grasp the round kitchenpot with handles and elevate together.", + "Secure the gray kitchenpot and lift it up", + "Lift the dark gray stove kitchenpot upward with both arms", + "Grab the round kitchenpot with handles and lift it upwards", + "Raise the smooth gray kitchenpot upward with both hands", + "Raise the medium kitchenpot made of metal together with arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Raise the cylindrical kitchenpot securely with arms", + "Securely lift the gray cylindrical metal kitchenpot together", + "Grab the cooking kitchenpot with side grips using both arms", + "Use both arms to raise the gray kitchenpot.", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Hold the gray kitchenpot firmly and lift it", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Raise the metal kitchenpot with strong support", + "Hold the cooking kitchenpot with side grips and lift upward", + "With arms, raise the gray kitchenpot upward slowly.", + "Bring the round kitchenpot with handles upwards together", + "Bring the gray kitchenpot up together", + "Use both arms to raise the medium kitchenpot made of metal", + "Lift the medium kitchenpot made of metal up using your arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Raise and hold the kitchenpot with smooth exterior together", + "Both arms lift the round kitchenpot with handles upright", + "Hold and raise the metal kitchenpot together", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Hold the medium-sized kitchenpot firmly with arms", + "Engage arms to grip and lift the gray kitchenpot." + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode20.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..0b4c2e538954cc5e94902156737e9a089fc1d544 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the smooth gray kitchenpot and lift upward.", + "Hold the medium kitchenpot made of metal firmly with arms", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Securely lift the dark gray stove kitchenpot together", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Pick up the medium kitchenpot made of metal with both arms", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Grab the medium-sized kitchenpot and lift together", + "Lift the round kitchenpot with handles up together", + "Raise the medium-sized kitchenpot together with arms", + "Hold the gray kitchenpot firmly and move upward.", + "Lift the round kitchenpot with handles up using your arms", + "Hold the round kitchenpot with handles firmly and lift it", + "With arms, raise the metal kitchenpot upward slowly.", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Hold and raise the round kitchenpot with handles together", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Raise the round kitchenpot with handles securely with arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Place hands on the metal kitchenpot, then lift.", + "Secure the round kitchenpot with handles and lift it up", + "Hold the cooking kitchenpot with side grips with both arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Engage arms to grip and lift the metal kitchenpot.", + "Use both arms to raise the round kitchenpot with handles.", + "Carry the round kitchenpot with handles securely using arms", + "Bring the cylindrical kitchenpot upwards together", + "Bring the cooking kitchenpot with side grips up together", + "Grab the round kitchenpot with handles and lift it up", + "Hold the kitchenpot with smooth exterior and lift upward", + "Hold and raise the cylindrical kitchenpot together", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Raise the smooth gray kitchenpot evenly with arms", + "Raise the dark gray stove kitchenpot steadily using arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Lift the round kitchenpot with handles steadily with support", + "Grab the dark gray stove kitchenpot using both arms", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Raise the round kitchenpot with handles using both arms", + "Raise and hold the medium-sized kitchenpot together", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Raise the cylindrical kitchenpot together using arms", + "Both arms lift the cylindrical kitchenpot upright", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Hold the dark gray stove kitchenpot firmly with arms", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Securely lift the gray cylindrical metal kitchenpot together", + "Lift the dark gray stove kitchenpot using both arms now.", + "Support the round kitchenpot with handles and raise it upward", + "Raise the metal kitchenpot with strong support", + "Pick up the smooth gray kitchenpot with both arms", + "Lift the smooth gray kitchenpot carefully using arms", + "Use arms to lift the round kitchenpot with handles upward", + "Grab the medium-sized kitchenpot and lift together", + "Lift the dark gray stove kitchenpot up together", + "Raise the cooking kitchenpot with side grips together with arms", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Lift the kitchenpot with smooth exterior up using your arms", + "Hold the medium-sized kitchenpot firmly and lift it", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Lift the metal kitchenpot upward and hold it", + "Hold and raise the kitchenpot with smooth exterior together", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Raise the dark gray stove kitchenpot securely with arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Place hands on the smooth gray kitchenpot, then lift.", + "Secure the round kitchenpot with handles and lift it up", + "Hold the medium-sized kitchenpot with both arms", + "Grasp the metal kitchenpot and elevate together.", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Carry the gray kitchenpot securely using arms", + "Bring the smooth gray kitchenpot upwards together", + "Bring the dark gray stove kitchenpot up together", + "Grab the smooth gray kitchenpot and lift it up", + "Hold the gray kitchenpot and lift upward", + "Hold and raise the gray kitchenpot together", + "Use both arms to raise the kitchenpot with smooth exterior", + "Take hold of the round kitchenpot with handles and lift up", + "Lift the metal kitchenpot carefully using both arms.", + "Raise the round kitchenpot with handles evenly with arms", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Lift the cooking kitchenpot with side grips steadily with support", + "Grab the dark gray stove kitchenpot using both arms", + "Lift the round kitchenpot with handles upwards with care", + "Grip the smooth gray kitchenpot firmly and lift", + "Pick up the metal kitchenpot with careful lifting", + "Raise the metal kitchenpot using both arms", + "Raise and hold the smooth gray kitchenpot together", + "Lift the round kitchenpot with handles steadily using arms", + "Raise the kitchenpot for boiling and cooking together using arms", + "Both arms lift the gray cylindrical metal kitchenpot upright" + ], + "unseen": [ + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode21.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..f9ba23a5b07c99330999182529606b2bace839f7 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the kitchenpot with smooth exterior steadily using arms", + "Raise the medium-sized kitchenpot with strong support", + "Lift the dark gray stove kitchenpot upwards with care", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Bring the metal kitchenpot up together", + "Take hold of the gray kitchenpot and lift up", + "Grab the round kitchenpot with handles and lift it upwards", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Hold the medium kitchenpot made of metal and lift upward", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Bring the cooking kitchenpot with side grips upwards together", + "Hold and raise the kitchenpot for boiling and cooking together", + "Use both arms to raise the dark gray stove kitchenpot.", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Raise the cylindrical kitchenpot together with arms", + "Place hands on the metal kitchenpot, then lift.", + "Grab the cooking kitchenpot with side grips and lift together", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Lift the round kitchenpot with handles using both arms now.", + "Raise and hold the cooking kitchenpot with side grips together", + "Lift the kitchenpot with smooth exterior steadily with support", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Hold and raise the smooth gray kitchenpot together", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Hold the medium-sized kitchenpot firmly with arms", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Hold the dark gray stove kitchenpot with both arms", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Raise the kitchenpot with smooth exterior together using arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Pick up the metal kitchenpot with both arms", + "Lift the dark gray stove kitchenpot up using your arms", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Lift the round kitchenpot with handles upward and hold it", + "Securely lift the metal kitchenpot together", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Both arms lift the cooking kitchenpot with side grips upright", + "Grab the cooking kitchenpot with side grips and lift it up", + "Carry the metal kitchenpot securely using arms", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Support the smooth gray kitchenpot and raise it upward", + "Use both arms to raise the smooth gray kitchenpot", + "Raise the cooking kitchenpot with side grips using both arms", + "Lift the round kitchenpot with handles carefully using arms", + "Lift the medium kitchenpot made of metal up together", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Raise the medium kitchenpot made of metal steadily using arms", + "Raise the medium-sized kitchenpot with strong support", + "Lift the metal kitchenpot upwards with care", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Grip the gray kitchenpot firmly and lift", + "Bring the gray kitchenpot up together", + "Take hold of the round kitchenpot with handles and lift up", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Raise the smooth gray kitchenpot evenly with arms", + "Hold the medium-sized kitchenpot and lift upward", + "Hold the metal kitchenpot firmly, then lift.", + "Bring the kitchenpot for boiling and cooking upwards together", + "Hold and raise the kitchenpot for boiling and cooking together", + "Use both arms to raise the medium-sized kitchenpot.", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Raise the kitchenpot for boiling and cooking together with arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Grab the medium-sized kitchenpot and lift together", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Raise and hold the cylindrical kitchenpot together", + "Lift the round kitchenpot with handles steadily with support", + "Pick up the medium-sized kitchenpot with careful lifting", + "Secure the medium kitchenpot made of metal and lift it up", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Hold and raise the kitchenpot with smooth exterior together", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Grasp the round kitchenpot with handles and elevate together.", + "Hold the medium-sized kitchenpot firmly with arms", + "Raise the cooking kitchenpot with side grips securely with arms", + "Hold the cooking kitchenpot with side grips with both arms", + "Grab the medium-sized kitchenpot using both arms", + "Raise the smooth gray kitchenpot together using arms", + "Lift the round kitchenpot with handles carefully using both arms.", + "Pick up the kitchenpot with smooth exterior with both arms", + "Lift the medium-sized kitchenpot up using your arms", + "Lift the medium-sized kitchenpot steadily using arms", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Securely lift the dark gray stove kitchenpot together", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Both arms lift the smooth gray kitchenpot upright", + "Grab the dark gray stove kitchenpot and lift it up", + "Carry the metal kitchenpot securely using arms", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Support the gray kitchenpot and raise it upward", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Raise the gray kitchenpot using both arms", + "Lift the dark gray stove kitchenpot carefully using arms", + "Lift the smooth gray kitchenpot up together", + "Hold the kitchenpot with smooth exterior firmly and move upward." + ], + "unseen": [ + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode22.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..dcaa3b1ca34a8aa84226c788d61b9464042f5410 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the cooking kitchenpot with side grips with strong support", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Hold the gray kitchenpot firmly with arms", + "Lift the dark gray stove kitchenpot carefully using arms", + "Both arms lift the smooth gray kitchenpot upright", + "Place hands on the gray kitchenpot, then lift.", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Raise and hold the dark gray stove kitchenpot together", + "Hold and raise the kitchenpot with smooth exterior together", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Raise the metal kitchenpot using both arms", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Grab the gray kitchenpot and lift together", + "Bring the metal kitchenpot up together", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Pick up the dark gray stove kitchenpot with both arms", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Lift the cylindrical kitchenpot upward with both arms", + "Lift the gray kitchenpot upwards with care", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Use both arms to raise the medium kitchenpot made of metal", + "Raise the dark gray stove kitchenpot together using arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Bring the medium kitchenpot made of metal upwards together", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Securely lift the kitchenpot for boiling and cooking together", + "Use arms to lift the gray kitchenpot upward", + "Carry the medium kitchenpot made of metal securely using arms", + "Hold the gray kitchenpot and lift upward", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Lift the round kitchenpot with handles up together", + "Grip the cylindrical kitchenpot firmly and lift", + "Grab the cylindrical kitchenpot using both arms", + "Lift the smooth gray kitchenpot up using your arms", + "Secure the cylindrical kitchenpot and lift it up", + "Raise the cylindrical kitchenpot together with arms", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Lift the cylindrical kitchenpot steadily with support", + "Support the medium kitchenpot made of metal and raise it upward", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Use both arms to raise the cylindrical kitchenpot.", + "Lift the metal kitchenpot using both arms now.", + "Grab the gray kitchenpot and lift it upwards", + "Hold the cylindrical kitchenpot firmly and lift it", + "Raise the cylindrical kitchenpot with strong support", + "Hold and raise the cylindrical kitchenpot together", + "Hold the metal kitchenpot firmly with arms", + "Lift the smooth gray kitchenpot carefully using arms", + "Both arms lift the gray kitchenpot upright", + "Place hands on the smooth gray kitchenpot, then lift.", + "Hold the smooth gray kitchenpot with both arms", + "Grasp the gray kitchenpot and elevate together.", + "Raise and hold the kitchenpot for boiling and cooking together", + "Hold and raise the medium-sized kitchenpot together", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Grab the cooking kitchenpot with side grips and lift together", + "Bring the round kitchenpot with handles up together", + "Raise the kitchenpot with smooth exterior securely with arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Pick up the kitchenpot with smooth exterior with both arms", + "Grab the cooking kitchenpot with side grips and lift it up", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Lift the medium-sized kitchenpot upwards with care", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Use both arms to raise the kitchenpot with smooth exterior", + "Raise the cooking kitchenpot with side grips together using arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Bring the smooth gray kitchenpot upwards together", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Pick up the gray kitchenpot with careful lifting", + "Securely lift the gray kitchenpot together", + "Use arms to lift the gray kitchenpot upward", + "Carry the smooth gray kitchenpot securely using arms", + "Hold the cooking kitchenpot with side grips and lift upward", + "Secure the cooking kitchenpot with side grips and lift upward.", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Lift the smooth gray kitchenpot up together", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Grab the gray kitchenpot using both arms", + "Lift the metal kitchenpot up using your arms", + "Secure the gray kitchenpot and lift it up", + "Raise the metal kitchenpot together with arms", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Lift the kitchenpot with smooth exterior steadily with support", + "Support the cylindrical kitchenpot and raise it upward", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Use both arms to raise the round kitchenpot with handles.", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Hold the smooth gray kitchenpot firmly and lift it" + ], + "unseen": [ + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode23.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..51fad5aba2c156da247d5f15829b49ec5d04964a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the smooth gray kitchenpot firmly and lift it", + "Bring the round kitchenpot with handles up together", + "Secure the smooth gray kitchenpot and lift upward.", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Lift the gray kitchenpot steadily with support", + "Raise the gray kitchenpot together with arms", + "Grip the metal kitchenpot firmly and lift", + "Both arms lift the cylindrical kitchenpot upright", + "Take hold of the medium kitchenpot made of metal and lift up", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Hold the medium-sized kitchenpot with both arms", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the cylindrical kitchenpot upwards with care", + "Grasp the round kitchenpot with handles and elevate together.", + "Raise the dark gray stove kitchenpot using both arms", + "Lift the dark gray stove kitchenpot upward with both arms", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Hold the round kitchenpot with handles firmly and move upward.", + "Use arms to lift the smooth gray kitchenpot upward", + "Grab the smooth gray kitchenpot using both arms", + "Grab the gray kitchenpot and lift it up", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Support the metal kitchenpot and raise it upward", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "With arms, raise the metal kitchenpot upward slowly.", + "Grab the kitchenpot with smooth exterior and lift together", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Use both arms to raise the medium-sized kitchenpot", + "Securely lift the medium kitchenpot made of metal together", + "Secure the round kitchenpot with handles and lift it up", + "Lift the kitchenpot with smooth exterior up together", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the medium kitchenpot made of metal steadily using arms", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Raise and hold the medium-sized kitchenpot together", + "Lift the gray kitchenpot using both arms now.", + "Raise the metal kitchenpot evenly with arms", + "Raise the metal kitchenpot together using arms", + "Bring the metal kitchenpot upwards together", + "Hold and raise the cylindrical kitchenpot together", + "Lift the medium kitchenpot made of metal up using your arms", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Lift the gray kitchenpot carefully using arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Raise the cylindrical kitchenpot with strong support", + "Hold the cylindrical kitchenpot and lift upward", + "Hold the metal kitchenpot firmly and lift it", + "Bring the kitchenpot with smooth exterior up together", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Pick up the medium-sized kitchenpot with both arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Lift the kitchenpot with smooth exterior steadily with support", + "Raise the cylindrical kitchenpot together with arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Hold the dark gray stove kitchenpot with both arms", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Lift the medium-sized kitchenpot upwards with care", + "Grasp the medium-sized kitchenpot and elevate together.", + "Raise the medium-sized kitchenpot using both arms", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Hold the round kitchenpot with handles firmly and move upward.", + "Use arms to lift the metal kitchenpot upward", + "Grab the kitchenpot for boiling and cooking using both arms", + "Grab the medium kitchenpot made of metal and lift it up", + "Pick up the gray kitchenpot with careful lifting", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Support the medium-sized kitchenpot and raise it upward", + "Engage arms to grip and lift the metal kitchenpot.", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Securely lift the smooth gray kitchenpot together", + "Secure the smooth gray kitchenpot and lift it up", + "Lift the kitchenpot for boiling and cooking up together", + "Hold and raise the cooking kitchenpot with side grips together", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Use both arms to raise the round kitchenpot with handles.", + "Raise and hold the medium-sized kitchenpot together", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Raise the cylindrical kitchenpot evenly with arms", + "Raise the smooth gray kitchenpot together using arms", + "Bring the smooth gray kitchenpot upwards together", + "Hold and raise the gray kitchenpot together", + "Lift the round kitchenpot with handles up using your arms", + "Hold the round kitchenpot with handles firmly, then lift.", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Raise the kitchenpot for boiling and cooking with strong support", + "Hold the metal kitchenpot and lift upward" + ], + "unseen": [ + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode24.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..a6648c4dc0c75d9beeb2c44bb67d1a22e63de47e --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take hold of the gray kitchenpot and lift up", + "Lift the round kitchenpot with handles upward with both arms", + "Raise the medium kitchenpot made of metal with strong support", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Raise the smooth gray kitchenpot using both arms", + "Raise and hold the round kitchenpot with handles together", + "Secure the smooth gray kitchenpot and lift upward.", + "Hold the kitchenpot with smooth exterior and lift upward", + "Raise the medium-sized kitchenpot evenly with arms", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Raise the gray kitchenpot together with arms", + "Use both arms to raise the gray kitchenpot.", + "Hold and raise the round kitchenpot with handles together", + "Grab the metal kitchenpot and lift it up", + "Lift the dark gray stove kitchenpot upwards with care", + "Both arms lift the cooking kitchenpot with side grips upright", + "Use arms to lift the metal kitchenpot upward", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Bring the medium-sized kitchenpot upwards together", + "Securely lift the kitchenpot with smooth exterior together", + "Lift the round kitchenpot with handles using both arms now.", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Support the cylindrical kitchenpot and raise it upward", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Hold the kitchenpot with smooth exterior with both arms", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Hold the round kitchenpot with handles firmly with arms", + "Grab the cooking kitchenpot with side grips using both arms", + "Use both arms to raise the medium-sized kitchenpot", + "Bring the medium-sized kitchenpot up together", + "Raise the smooth gray kitchenpot steadily using arms", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Hold and raise the dark gray stove kitchenpot together", + "Pick up the metal kitchenpot with careful lifting", + "Grasp the round kitchenpot with handles and elevate together.", + "Raise the cooking kitchenpot with side grips together using arms", + "Lift the dark gray stove kitchenpot carefully using arms", + "Pick up the cooking kitchenpot with side grips with both arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Place hands on the round kitchenpot with handles, then lift.", + "Lift the kitchenpot with smooth exterior up together", + "Carry the kitchenpot with smooth exterior securely using arms", + "Raise the kitchenpot with smooth exterior securely with arms", + "Lift the dark gray stove kitchenpot steadily with support", + "Grab the medium kitchenpot made of metal and lift together", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Lift the cylindrical kitchenpot upward with both arms", + "Raise the gray cylindrical metal kitchenpot with strong support", + "With arms, raise the metal kitchenpot upward slowly.", + "Raise the gray kitchenpot using both arms", + "Raise and hold the gray kitchenpot together", + "Secure the cylindrical kitchenpot and lift upward.", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Grip the round kitchenpot with handles firmly and lift", + "Lift the medium kitchenpot made of metal steadily using arms", + "Hold the metal kitchenpot firmly, then lift.", + "Raise the smooth gray kitchenpot together with arms", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Hold and raise the medium kitchenpot made of metal together", + "Grab the metal kitchenpot and lift it up", + "Lift the kitchenpot with smooth exterior upwards with care", + "Both arms lift the dark gray stove kitchenpot upright", + "Use arms to lift the dark gray stove kitchenpot upward", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Bring the dark gray stove kitchenpot upwards together", + "Securely lift the medium-sized kitchenpot together", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Lift the medium-sized kitchenpot upward and hold it", + "Support the gray kitchenpot and raise it upward", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Hold the medium-sized kitchenpot with both arms", + "Grab the medium-sized kitchenpot and lift it upwards", + "Hold the metal kitchenpot firmly and move upward.", + "Hold the metal kitchenpot firmly with arms", + "Grab the kitchenpot with smooth exterior using both arms", + "Use both arms to raise the medium kitchenpot made of metal", + "Bring the gray cylindrical metal kitchenpot up together", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Lift the medium kitchenpot made of metal up using your arms", + "Hold and raise the cylindrical kitchenpot together", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Raise the kitchenpot for boiling and cooking together using arms", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Pick up the cylindrical kitchenpot with both arms", + "Raise the round kitchenpot with handles upward with both hands", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Lift the cylindrical kitchenpot up together", + "Carry the cooking kitchenpot with side grips securely using arms", + "Raise the medium-sized kitchenpot securely with arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Grab the medium kitchenpot made of metal and lift together", + "Secure the cylindrical kitchenpot and lift it up" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode25.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..db484e923796dd15e8ba7d9e8b1d42ce223662c3 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Securely lift the smooth gray kitchenpot together", + "Hold and raise the medium-sized kitchenpot together", + "Lift the dark gray stove kitchenpot upwards with care", + "Raise the metal kitchenpot securely with arms", + "Lift the metal kitchenpot up using your arms", + "Hold the gray kitchenpot with both arms", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Grab the medium-sized kitchenpot and lift together", + "Lift the cylindrical kitchenpot carefully using arms", + "Hold the round kitchenpot with handles firmly, then lift.", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Grab the smooth gray kitchenpot using both arms", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Lift the cooking kitchenpot with side grips steadily using arms", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Raise the kitchenpot with smooth exterior together using arms", + "Raise the smooth gray kitchenpot with strong support", + "Both arms lift the dark gray stove kitchenpot upright", + "Bring the medium kitchenpot made of metal up together", + "Lift the metal kitchenpot upward and hold it", + "Carry the kitchenpot with smooth exterior securely using arms", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Hold and raise the cylindrical kitchenpot together", + "Use arms to lift the cylindrical kitchenpot upward", + "Secure the dark gray stove kitchenpot and lift it up", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Lift the gray kitchenpot up together", + "Bring the smooth gray kitchenpot upwards together", + "Raise the smooth gray kitchenpot using both arms", + "Place hands on the smooth gray kitchenpot, then lift.", + "Support the smooth gray kitchenpot and raise it upward", + "Lift the round kitchenpot with handles steadily with support", + "Grab the smooth gray kitchenpot and lift it upwards", + "Raise the metal kitchenpot together with arms", + "Pick up the medium kitchenpot made of metal with both arms", + "Raise the metal kitchenpot upward with both hands", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Secure the medium kitchenpot made of metal and lift upward.", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Use both arms to raise the round kitchenpot with handles", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Use both arms to raise the round kitchenpot with handles.", + "Grab the gray kitchenpot and lift it up", + "Securely lift the cylindrical kitchenpot together", + "Hold and raise the dark gray stove kitchenpot together", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Raise the round kitchenpot with handles securely with arms", + "Lift the smooth gray kitchenpot up using your arms", + "Hold the gray kitchenpot with both arms", + "Raise the gray kitchenpot steadily using arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Grab the gray kitchenpot and lift together", + "Lift the smooth gray kitchenpot carefully using arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Take hold of the cylindrical kitchenpot and lift up", + "Raise the medium-sized kitchenpot evenly with arms", + "Grab the medium-sized kitchenpot using both arms", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Lift the cylindrical kitchenpot steadily using arms", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Raise and hold the medium kitchenpot made of metal together", + "Lift the cylindrical kitchenpot upward with both arms", + "Raise the gray kitchenpot together using arms", + "Raise the medium kitchenpot made of metal with strong support", + "Both arms lift the round kitchenpot with handles upright", + "Bring the metal kitchenpot up together", + "Lift the medium-sized kitchenpot upward and hold it", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Hold and raise the metal kitchenpot together", + "Use arms to lift the medium kitchenpot made of metal upward", + "Secure the cooking kitchenpot with side grips and lift it up", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Lift the gray kitchenpot up together", + "Bring the smooth gray kitchenpot upwards together", + "Raise the cylindrical kitchenpot using both arms", + "Place hands on the gray kitchenpot, then lift.", + "Support the cooking kitchenpot with side grips and raise it upward", + "Lift the smooth gray kitchenpot steadily with support", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Raise the cylindrical kitchenpot together with arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Grasp the smooth gray kitchenpot and elevate together.", + "Lift the medium kitchenpot made of metal using both arms now.", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Hold the medium-sized kitchenpot and lift upward", + "Grip the dark gray stove kitchenpot firmly and lift", + "Use both arms to raise the cylindrical kitchenpot.", + "Grab the medium-sized kitchenpot and lift it up" + ], + "unseen": [ + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode26.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..52642df77dd00e21347061baf279251eb7e101f3 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the medium-sized kitchenpot upwards with care", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Pick up the gray kitchenpot with both arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Carry the kitchenpot with smooth exterior securely using arms", + "Grab the dark gray stove kitchenpot and lift together", + "Bring the medium-sized kitchenpot up together", + "Hold the cylindrical kitchenpot and lift upward", + "Lift the metal kitchenpot steadily with support", + "Grasp the cylindrical kitchenpot and elevate together.", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Both arms lift the metal kitchenpot upright", + "Hold the smooth gray kitchenpot firmly and lift it", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Secure the smooth gray kitchenpot and lift upward.", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Use both arms to raise the cylindrical kitchenpot.", + "Raise and hold the dark gray stove kitchenpot together", + "Bring the kitchenpot for boiling and cooking upwards together", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Lift the gray kitchenpot steadily using arms", + "Lift the gray kitchenpot up together", + "Hold the metal kitchenpot firmly with arms", + "Lift the round kitchenpot with handles carefully using arms", + "Raise the metal kitchenpot evenly with arms", + "Lift the dark gray stove kitchenpot up using your arms", + "Hold and raise the medium-sized kitchenpot together", + "Use both arms to raise the cylindrical kitchenpot", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Take hold of the medium-sized kitchenpot and lift up", + "Securely lift the dark gray stove kitchenpot together", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Hold the kitchenpot for boiling and cooking with both arms", + "Grab the round kitchenpot with handles and lift it up", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Grab the smooth gray kitchenpot using both arms", + "Raise the cylindrical kitchenpot together using arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Raise the cooking kitchenpot with side grips using both arms", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Hold the metal kitchenpot firmly and move upward.", + "Hold and raise the kitchenpot with smooth exterior together", + "Secure the kitchenpot with smooth exterior and lift it up", + "Lift the cooking kitchenpot with side grips upwards with care", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Pick up the medium-sized kitchenpot with both arms", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Carry the medium kitchenpot made of metal securely using arms", + "Grab the kitchenpot with smooth exterior and lift together", + "Bring the medium kitchenpot made of metal up together", + "Hold the medium kitchenpot made of metal and lift upward", + "Lift the cooking kitchenpot with side grips steadily with support", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Lift the gray kitchenpot upward with both arms", + "Raise the round kitchenpot with handles with strong support", + "Lift the metal kitchenpot using both arms now.", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Both arms lift the smooth gray kitchenpot upright", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Raise the medium kitchenpot made of metal upward with both hands", + "Secure the gray kitchenpot and lift upward.", + "Place hands on the metal kitchenpot, then lift.", + "Use both arms to raise the round kitchenpot with handles.", + "Raise and hold the metal kitchenpot together", + "Bring the cooking kitchenpot with side grips upwards together", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Lift the medium-sized kitchenpot steadily using arms", + "Lift the gray cylindrical metal kitchenpot up together", + "Hold the cylindrical kitchenpot firmly with arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Raise the medium kitchenpot made of metal evenly with arms", + "Lift the round kitchenpot with handles up using your arms", + "Hold and raise the metal kitchenpot together", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Support the metal kitchenpot and raise it upward", + "Hold the metal kitchenpot firmly, then lift.", + "Grip the round kitchenpot with handles firmly and lift", + "Take hold of the smooth gray kitchenpot and lift up", + "Securely lift the gray kitchenpot together", + "Use arms to lift the dark gray stove kitchenpot upward", + "Hold the medium-sized kitchenpot with both arms", + "Grab the cooking kitchenpot with side grips and lift it up", + "Raise the cylindrical kitchenpot securely with arms", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Grab the dark gray stove kitchenpot using both arms", + "Raise the smooth gray kitchenpot together using arms", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Raise the cooking kitchenpot with side grips using both arms", + "Lift the round kitchenpot with handles carefully using both arms.", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Hold and raise the medium kitchenpot made of metal together", + "Secure the smooth gray kitchenpot and lift it up" + ], + "unseen": [ + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode27.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..c52238e7447511e6e9e0c0b1564dad36ca82cbd2 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the cooking kitchenpot with side grips together with arms", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Bring the dark gray stove kitchenpot upwards together", + "Lift the dark gray stove kitchenpot upward with both arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Raise the kitchenpot for boiling and cooking with strong support", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Lift the dark gray stove kitchenpot carefully using arms", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Lift the cooking kitchenpot with side grips up together", + "Hold and raise the kitchenpot with smooth exterior together", + "Both arms lift the dark gray stove kitchenpot upright", + "Pick up the smooth gray kitchenpot with careful lifting", + "Carry the medium kitchenpot made of metal securely using arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Lift the medium kitchenpot made of metal upwards with care", + "Raise the round kitchenpot with handles upward with both hands", + "Hold the medium-sized kitchenpot firmly and lift it", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Grab the smooth gray kitchenpot using both arms", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Raise the gray kitchenpot evenly with arms", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Use both arms to raise the round kitchenpot with handles", + "Use both arms to raise the round kitchenpot with handles.", + "Place hands on the round kitchenpot with handles, then lift.", + "Raise the medium kitchenpot made of metal together using arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Support the round kitchenpot with handles and raise it upward", + "Secure the metal kitchenpot and lift upward.", + "Pick up the kitchenpot with smooth exterior with both arms", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Lift the cylindrical kitchenpot up using your arms", + "Grab the metal kitchenpot and lift it up", + "Hold the medium-sized kitchenpot firmly with arms", + "Secure the round kitchenpot with handles and lift it up", + "Hold the kitchenpot for boiling and cooking with both arms", + "Raise and hold the smooth gray kitchenpot together", + "Raise the round kitchenpot with handles using both arms", + "Lift the cylindrical kitchenpot upward and hold it", + "Hold and raise the round kitchenpot with handles together", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Securely lift the metal kitchenpot together", + "Bring the gray cylindrical metal kitchenpot up together", + "Take hold of the medium-sized kitchenpot and lift up", + "Raise the cylindrical kitchenpot together with arms", + "Grab the medium-sized kitchenpot and lift together", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Bring the metal kitchenpot upwards together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Raise the metal kitchenpot with strong support", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Hold the cylindrical kitchenpot and lift upward", + "Lift the kitchenpot with smooth exterior up together", + "Hold and raise the cooking kitchenpot with side grips together", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Carry the cylindrical kitchenpot securely using arms", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Lift the cylindrical kitchenpot upwards with care", + "Raise the cylindrical kitchenpot upward with both hands", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Use arms to lift the dark gray stove kitchenpot upward", + "Grab the cooking kitchenpot with side grips using both arms", + "Raise the metal kitchenpot securely with arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Grip the medium-sized kitchenpot firmly and lift", + "Use both arms to raise the medium kitchenpot made of metal", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Raise the medium-sized kitchenpot together using arms", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Lift the dark gray stove kitchenpot steadily with support", + "Support the medium-sized kitchenpot and raise it upward", + "Secure the gray kitchenpot and lift upward.", + "Pick up the medium kitchenpot made of metal with both arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Grab the gray kitchenpot and lift it up", + "Hold the gray kitchenpot firmly with arms", + "Secure the cooking kitchenpot with side grips and lift it up", + "Hold the cooking kitchenpot with side grips with both arms", + "Raise and hold the kitchenpot for boiling and cooking together", + "Raise the smooth gray kitchenpot using both arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Hold and raise the cylindrical kitchenpot together", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Securely lift the metal kitchenpot together", + "Bring the metal kitchenpot up together", + "Take hold of the round kitchenpot with handles and lift up" + ], + "unseen": [ + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode28.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..88ca0e40aa1dcbebc8823192315a671248b3de56 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the cylindrical kitchenpot firmly and move upward.", + "Raise the cooking kitchenpot with side grips together using arms", + "Hold the medium-sized kitchenpot and lift upward", + "Grab the round kitchenpot with handles and lift together", + "Support the cooking kitchenpot with side grips and raise it upward", + "Grab the smooth gray kitchenpot and lift it upwards", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Grab the cooking kitchenpot with side grips using both arms", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Hold the metal kitchenpot firmly with arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Securely lift the kitchenpot for boiling and cooking together", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Lift the medium kitchenpot made of metal upward and hold it", + "Bring the dark gray stove kitchenpot up together", + "Secure the cooking kitchenpot with side grips and lift it up", + "Raise the dark gray stove kitchenpot securely with arms", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Use both arms to raise the smooth gray kitchenpot.", + "Lift the cylindrical kitchenpot using both arms now.", + "Raise the smooth gray kitchenpot upward with both hands", + "Grasp the round kitchenpot with handles and elevate together.", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Secure the round kitchenpot with handles and lift upward.", + "Pick up the metal kitchenpot with careful lifting", + "Lift the kitchenpot with smooth exterior up using your arms", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Both arms lift the smooth gray kitchenpot upright", + "Raise the medium kitchenpot made of metal together with arms", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Take hold of the medium kitchenpot made of metal and lift up", + "Grab the smooth gray kitchenpot and lift it up", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Grip the medium kitchenpot made of metal firmly and lift", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Lift the medium-sized kitchenpot carefully using arms", + "Raise the dark gray stove kitchenpot using both arms", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Lift the dark gray stove kitchenpot up together", + "Pick up the round kitchenpot with handles with both arms", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Hold and raise the round kitchenpot with handles together", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Hold the metal kitchenpot and lift upward", + "Grab the metal kitchenpot and lift together", + "Support the metal kitchenpot and raise it upward", + "Grab the gray kitchenpot and lift it upwards", + "Hold the smooth gray kitchenpot with both arms", + "Grab the cylindrical kitchenpot using both arms", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Securely lift the cooking kitchenpot with side grips together", + "Use arms to lift the dark gray stove kitchenpot upward", + "Use both arms to raise the cooking kitchenpot with side grips", + "Lift the medium-sized kitchenpot upward and hold it", + "Bring the metal kitchenpot up together", + "Secure the dark gray stove kitchenpot and lift it up", + "Raise the cooking kitchenpot with side grips securely with arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Use both arms to raise the gray kitchenpot.", + "Lift the cylindrical kitchenpot using both arms now.", + "Raise the metal kitchenpot upward with both hands", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Hold the cylindrical kitchenpot firmly and lift it", + "Secure the round kitchenpot with handles and lift upward.", + "Pick up the medium-sized kitchenpot with careful lifting", + "Lift the cylindrical kitchenpot up using your arms", + "Raise and hold the smooth gray kitchenpot together", + "Both arms lift the cooking kitchenpot with side grips upright", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Bring the kitchenpot for boiling and cooking upwards together", + "Lift the dark gray stove kitchenpot steadily using arms", + "Take hold of the smooth gray kitchenpot and lift up", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Grip the metal kitchenpot firmly and lift", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Lift the smooth gray kitchenpot carefully using arms", + "Raise the metal kitchenpot using both arms", + "Carry the cylindrical kitchenpot securely using arms", + "Raise the round kitchenpot with handles with strong support", + "Lift the medium kitchenpot made of metal up together", + "Pick up the cooking kitchenpot with side grips with both arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Raise the cylindrical kitchenpot evenly with arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the round kitchenpot with handles carefully using both arms." + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode29.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..cf77f43e35698b6b6f77f32c58c7cf6ad53b8c7c --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Both arms lift the round kitchenpot with handles upright", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Lift the metal kitchenpot carefully using both arms.", + "Secure the kitchenpot with smooth exterior and lift it up", + "Support the cylindrical kitchenpot and raise it upward", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Lift the smooth gray kitchenpot upward with both arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Grab the round kitchenpot with handles and lift it up", + "Lift the cooking kitchenpot with side grips up together", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Carry the medium-sized kitchenpot securely using arms", + "Lift the cylindrical kitchenpot upward and hold it", + "Grab the medium kitchenpot made of metal using both arms", + "Raise the kitchenpot for boiling and cooking with strong support", + "Raise the gray kitchenpot securely with arms", + "Hold the kitchenpot with smooth exterior with both arms", + "Hold and raise the metal kitchenpot together", + "Lift the smooth gray kitchenpot steadily using arms", + "Grab the dark gray stove kitchenpot and lift together", + "Bring the round kitchenpot with handles up together", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Grab the medium-sized kitchenpot and lift it upwards", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Lift the dark gray stove kitchenpot carefully using arms", + "Hold the kitchenpot with smooth exterior and lift upward", + "Place hands on the medium-sized kitchenpot, then lift.", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Raise the smooth gray kitchenpot together with arms", + "Lift the cooking kitchenpot with side grips upwards with care", + "Raise the dark gray stove kitchenpot evenly with arms", + "Hold the smooth gray kitchenpot firmly with arms", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Pick up the metal kitchenpot with both arms", + "Raise the gray kitchenpot together using arms", + "Raise the smooth gray kitchenpot using both arms", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Raise the metal kitchenpot steadily using arms", + "Grip the round kitchenpot with handles firmly and lift", + "Securely lift the smooth gray kitchenpot together", + "Take hold of the cylindrical kitchenpot and lift up", + "Raise and hold the kitchenpot for boiling and cooking together", + "Hold the gray kitchenpot firmly and move upward.", + "Use both arms to raise the cylindrical kitchenpot", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Bring the kitchenpot for boiling and cooking upwards together", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the medium-sized kitchenpot steadily with support", + "Both arms lift the smooth gray kitchenpot upright", + "Secure the round kitchenpot with handles and lift upward.", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Secure the cooking kitchenpot with side grips and lift it up", + "Support the metal kitchenpot and raise it upward", + "Use arms to lift the round kitchenpot with handles upward", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Grab the round kitchenpot with handles and lift it up", + "Lift the kitchenpot with smooth exterior up together", + "Pick up the smooth gray kitchenpot with careful lifting", + "Carry the dark gray stove kitchenpot securely using arms", + "Lift the gray kitchenpot upward and hold it", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Raise the metal kitchenpot securely with arms", + "Hold the dark gray stove kitchenpot with both arms", + "Hold and raise the round kitchenpot with handles together", + "Lift the cylindrical kitchenpot steadily using arms", + "Grab the metal kitchenpot and lift together", + "Bring the cylindrical kitchenpot up together", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Place hands on the metal kitchenpot, then lift.", + "Raise the cylindrical kitchenpot upward with both hands", + "Raise the dark gray stove kitchenpot together with arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Hold the medium kitchenpot made of metal firmly with arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Raise the smooth gray kitchenpot together using arms", + "Raise the kitchenpot with smooth exterior using both arms", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Raise the metal kitchenpot steadily using arms", + "Grip the round kitchenpot with handles firmly and lift", + "Securely lift the cooking kitchenpot with side grips together", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Raise and hold the medium-sized kitchenpot together", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Use both arms to raise the smooth gray kitchenpot", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Bring the kitchenpot for boiling and cooking upwards together", + "Lift the medium kitchenpot made of metal up using your arms" + ], + "unseen": [ + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode3.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..8a693cf4511dd45d7c3b963f86b33e122364a5ce --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and raise the kitchenpot with smooth exterior together", + "Use arms to lift the metal kitchenpot upward", + "Lift the kitchenpot with smooth exterior upwards with care", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Grasp the cylindrical kitchenpot and elevate together.", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Grip the medium-sized kitchenpot firmly and lift", + "Hold the round kitchenpot with handles and lift upward", + "Raise the cooking kitchenpot with side grips securely with arms", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Securely lift the cylindrical kitchenpot together", + "Lift the gray cylindrical metal kitchenpot up together", + "Secure the cooking kitchenpot with side grips and lift it up", + "Raise the metal kitchenpot together using arms", + "Lift the metal kitchenpot up using your arms", + "Carry the metal kitchenpot securely using arms", + "Pick up the gray kitchenpot with careful lifting", + "Pick up the kitchenpot with smooth exterior with both arms", + "Raise the metal kitchenpot upward with both hands", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Bring the round kitchenpot with handles upwards together", + "Both arms lift the dark gray stove kitchenpot upright", + "Hold the round kitchenpot with handles with both arms", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Grab the metal kitchenpot and lift together", + "Lift the medium-sized kitchenpot upward with both arms", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Grab the kitchenpot with smooth exterior and lift it up", + "Raise the kitchenpot with smooth exterior with strong support", + "Lift the metal kitchenpot upward and hold it", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Take hold of the cooking kitchenpot with side grips and lift up", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Bring the kitchenpot with smooth exterior up together", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the dark gray stove kitchenpot steadily using arms", + "Raise the smooth gray kitchenpot evenly with arms", + "Raise the smooth gray kitchenpot together with arms", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Lift the dark gray stove kitchenpot steadily using arms", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Lift the medium kitchenpot made of metal carefully using arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Hold the gray kitchenpot firmly and lift it", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Raise the dark gray stove kitchenpot using both arms", + "Support the round kitchenpot with handles and raise it upward", + "Raise and hold the gray kitchenpot together", + "Hold and raise the kitchenpot with smooth exterior together", + "Use arms to lift the medium-sized kitchenpot upward", + "Lift the smooth gray kitchenpot upwards with care", + "Engage arms to grip and lift the gray kitchenpot.", + "Grasp the cylindrical kitchenpot and elevate together.", + "Grab the metal kitchenpot using both arms", + "Secure the round kitchenpot with handles and lift upward.", + "Grip the cylindrical kitchenpot firmly and lift", + "Hold the medium kitchenpot made of metal and lift upward", + "Raise the round kitchenpot with handles securely with arms", + "Hold the medium kitchenpot made of metal firmly with arms", + "Securely lift the kitchenpot for boiling and cooking together", + "Lift the kitchenpot for boiling and cooking up together", + "Secure the medium-sized kitchenpot and lift it up", + "Raise the dark gray stove kitchenpot together using arms", + "Lift the smooth gray kitchenpot up using your arms", + "Carry the cooking kitchenpot with side grips securely using arms", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Pick up the cylindrical kitchenpot with both arms", + "Raise the cylindrical kitchenpot upward with both hands", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Bring the round kitchenpot with handles upwards together", + "Both arms lift the medium-sized kitchenpot upright", + "Hold the round kitchenpot with handles with both arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Grab the metal kitchenpot and lift together", + "Lift the smooth gray kitchenpot upward with both arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Grab the cooking kitchenpot with side grips and lift it up", + "Raise the cylindrical kitchenpot with strong support", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Take hold of the gray kitchenpot and lift up", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Bring the metal kitchenpot up together", + "Hold and raise the dark gray stove kitchenpot together", + "Raise the cylindrical kitchenpot steadily using arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Hold the round kitchenpot with handles firmly, then lift.", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Place hands on the gray kitchenpot, then lift.", + "Raise the smooth gray kitchenpot using both arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Raise and hold the smooth gray kitchenpot together" + ], + "unseen": [ + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode30.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..3a8999e9209c2054532a1e2380fd8635caad775d --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the gray kitchenpot and lift upward.", + "Carry the metal kitchenpot securely using arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Grab the gray kitchenpot and lift together", + "Use both arms to raise the medium-sized kitchenpot.", + "Raise the dark gray stove kitchenpot using both arms", + "Lift the round kitchenpot with handles using both arms now.", + "Lift the gray cylindrical metal kitchenpot up together", + "Lift the metal kitchenpot upwards with care", + "Grab the medium-sized kitchenpot using both arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Lift the dark gray stove kitchenpot steadily using arms", + "Hold and raise the round kitchenpot with handles together", + "Hold the medium kitchenpot made of metal firmly with arms", + "Raise the round kitchenpot with handles securely with arms", + "Lift the metal kitchenpot upward and hold it", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Lift the round kitchenpot with handles carefully using both arms.", + "Grasp the medium-sized kitchenpot and elevate together.", + "Raise and hold the kitchenpot for boiling and cooking together", + "Support the medium-sized kitchenpot and raise it upward", + "Hold the gray kitchenpot firmly and move upward.", + "Lift the gray kitchenpot upward with both arms", + "Grab the gray kitchenpot and lift it upwards", + "Lift the metal kitchenpot up using your arms", + "Raise the cooking kitchenpot with side grips with strong support", + "Securely lift the metal kitchenpot together", + "Lift the round kitchenpot with handles carefully using arms", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Hold the medium-sized kitchenpot with both arms", + "Use arms to lift the dark gray stove kitchenpot upward", + "Bring the cylindrical kitchenpot up together", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the metal kitchenpot together using arms", + "Secure the gray kitchenpot and lift it up", + "Pick up the cylindrical kitchenpot with both arms", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Raise the metal kitchenpot upward with both hands", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Hold the kitchenpot with smooth exterior and lift upward", + "Use both arms to raise the cooking kitchenpot with side grips", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Bring the medium kitchenpot made of metal upwards together", + "Take hold of the cylindrical kitchenpot and lift up", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Secure the medium-sized kitchenpot and lift upward.", + "Carry the dark gray stove kitchenpot securely using arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise the medium kitchenpot made of metal steadily using arms", + "Grab the dark gray stove kitchenpot and lift together", + "Use both arms to raise the dark gray stove kitchenpot.", + "Raise the dark gray stove kitchenpot using both arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Lift the cooking kitchenpot with side grips up together", + "Lift the cooking kitchenpot with side grips upwards with care", + "Grab the cylindrical kitchenpot using both arms", + "Grab the metal kitchenpot and lift it up", + "Lift the dark gray stove kitchenpot steadily using arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Hold the medium kitchenpot made of metal firmly with arms", + "Raise the round kitchenpot with handles securely with arms", + "Lift the round kitchenpot with handles upward and hold it", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Grasp the smooth gray kitchenpot and elevate together.", + "Raise and hold the smooth gray kitchenpot together", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Grab the medium-sized kitchenpot and lift it upwards", + "Lift the metal kitchenpot up using your arms", + "Raise the dark gray stove kitchenpot with strong support", + "Securely lift the gray cylindrical metal kitchenpot together", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Hold the cooking kitchenpot with side grips with both arms", + "Use arms to lift the dark gray stove kitchenpot upward", + "Bring the gray kitchenpot up together", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Hold the gray kitchenpot firmly, then lift.", + "Both arms lift the medium kitchenpot made of metal upright", + "Lift the gray kitchenpot steadily with support", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Raise the cylindrical kitchenpot upward with both hands", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Raise the medium-sized kitchenpot together with arms", + "Hold the smooth gray kitchenpot and lift upward", + "Use both arms to raise the cylindrical kitchenpot", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Bring the metal kitchenpot upwards together", + "Take hold of the dark gray stove kitchenpot and lift up", + "Grip the cooking kitchenpot with side grips firmly and lift" + ], + "unseen": [ + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode31.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..fd9e2250690b86c470abb52ae559b28ef35b82df --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the kitchenpot with smooth exterior up together", + "Grasp the round kitchenpot with handles and elevate together.", + "Securely lift the medium-sized kitchenpot together", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Bring the round kitchenpot with handles up together", + "Use both arms to raise the metal kitchenpot", + "Bring the smooth gray kitchenpot upwards together", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Lift the metal kitchenpot up using your arms", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Raise the cylindrical kitchenpot using both arms", + "Hold the cooking kitchenpot with side grips and lift upward", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Hold the round kitchenpot with handles firmly with arms", + "Hold and raise the cylindrical kitchenpot together", + "Grab the gray kitchenpot and lift it upwards", + "Raise the dark gray stove kitchenpot together using arms", + "Raise the dark gray stove kitchenpot with strong support", + "Grab the kitchenpot with smooth exterior and lift it up", + "Grip the gray kitchenpot firmly and lift", + "Secure the kitchenpot with smooth exterior and lift it up", + "Lift the round kitchenpot with handles upwards with care", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Hold and raise the medium-sized kitchenpot together", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Raise the cylindrical kitchenpot evenly with arms", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Raise the medium-sized kitchenpot upward with both hands", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Raise the kitchenpot for boiling and cooking together with arms", + "Raise the smooth gray kitchenpot steadily using arms", + "Hold the kitchenpot with smooth exterior with both arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Lift the dark gray stove kitchenpot steadily using arms", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Support the cylindrical kitchenpot and raise it upward", + "Carry the kitchenpot with smooth exterior securely using arms", + "Lift the round kitchenpot with handles steadily with support", + "Grab the smooth gray kitchenpot using both arms", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Raise and hold the round kitchenpot with handles together", + "Lift the round kitchenpot with handles upward with both arms", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Grab the metal kitchenpot and lift together", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Hold the metal kitchenpot firmly and move upward.", + "Lift the medium kitchenpot made of metal up together", + "Grasp the gray kitchenpot and elevate together.", + "Securely lift the dark gray stove kitchenpot together", + "Lift the round kitchenpot with handles upward and hold it", + "Bring the medium kitchenpot made of metal up together", + "Use both arms to raise the cooking kitchenpot with side grips", + "Bring the medium-sized kitchenpot upwards together", + "Both arms lift the cylindrical kitchenpot upright", + "Lift the kitchenpot with smooth exterior up using your arms", + "Raise the round kitchenpot with handles securely with arms", + "Raise the dark gray stove kitchenpot using both arms", + "Hold the cooking kitchenpot with side grips and lift upward", + "Place hands on the metal kitchenpot, then lift.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Grip the dark gray stove kitchenpot firmly and lift", + "Secure the smooth gray kitchenpot and lift it up", + "Lift the medium-sized kitchenpot upwards with care", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Hold and raise the kitchenpot for boiling and cooking together", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Use arms to lift the smooth gray kitchenpot upward", + "Raise the smooth gray kitchenpot evenly with arms", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Raise the medium kitchenpot made of metal upward with both hands", + "Secure the dark gray stove kitchenpot and lift upward.", + "Take hold of the cylindrical kitchenpot and lift up", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Raise the kitchenpot with smooth exterior together with arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Hold the kitchenpot with smooth exterior with both arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Lift the metal kitchenpot steadily using arms", + "Pick up the gray kitchenpot with both arms", + "Support the medium-sized kitchenpot and raise it upward", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the gray kitchenpot steadily with support", + "Grab the metal kitchenpot using both arms", + "Lift the gray kitchenpot carefully using both arms.", + "Raise and hold the medium kitchenpot made of metal together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Use both arms to raise the smooth gray kitchenpot.", + "Grab the cylindrical kitchenpot and lift together", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Hold the gray cylindrical metal kitchenpot firmly and move upward." + ], + "unseen": [ + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode32.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..06272d96f718c02ebbcd15a5a67afe4654787d6c --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the cylindrical kitchenpot carefully using arms", + "Hold and raise the smooth gray kitchenpot together", + "Hold the dark gray stove kitchenpot firmly with arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Grab the smooth gray kitchenpot and lift it upwards", + "Hold the dark gray stove kitchenpot and lift upward", + "Use both arms to raise the medium-sized kitchenpot.", + "Lift the medium kitchenpot made of metal upwards with care", + "Lift the medium kitchenpot made of metal up using your arms", + "Raise the metal kitchenpot securely with arms", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Raise the gray kitchenpot evenly with arms", + "Raise the cylindrical kitchenpot together with arms", + "Grab the dark gray stove kitchenpot using both arms", + "Grab the smooth gray kitchenpot and lift it up", + "Take hold of the cylindrical kitchenpot and lift up", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Lift the metal kitchenpot carefully using both arms.", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Bring the metal kitchenpot upwards together", + "Lift the dark gray stove kitchenpot upward with both arms", + "Raise the smooth gray kitchenpot using both arms", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Carry the smooth gray kitchenpot securely using arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Securely lift the smooth gray kitchenpot together", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Raise the cylindrical kitchenpot with strong support", + "Lift the medium-sized kitchenpot steadily with support", + "Hold and raise the gray kitchenpot together", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Raise the dark gray stove kitchenpot upward with both hands", + "Pick up the metal kitchenpot with both arms", + "Secure the dark gray stove kitchenpot and lift it up", + "Hold the cooking kitchenpot with side grips with both arms", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Raise the dark gray stove kitchenpot together using arms", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Raise the medium kitchenpot made of metal steadily using arms", + "Bring the metal kitchenpot up together", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Lift the medium-sized kitchenpot up together", + "Use arms to lift the round kitchenpot with handles upward", + "Support the gray kitchenpot and raise it upward", + "Hold the cylindrical kitchenpot firmly and lift it", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Lift the cylindrical kitchenpot carefully using arms", + "Hold and raise the gray kitchenpot together", + "Hold the medium-sized kitchenpot firmly with arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Secure the metal kitchenpot and lift upward.", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Use both arms to raise the gray kitchenpot.", + "Lift the gray kitchenpot upwards with care", + "Lift the metal kitchenpot up using your arms", + "Raise the smooth gray kitchenpot securely with arms", + "Grip the gray kitchenpot firmly and lift", + "Raise the dark gray stove kitchenpot evenly with arms", + "Raise the gray kitchenpot together with arms", + "Grab the metal kitchenpot using both arms", + "Grab the smooth gray kitchenpot and lift it up", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Grab the smooth gray kitchenpot and lift together", + "Lift the metal kitchenpot carefully using both arms.", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Grasp the metal kitchenpot and elevate together.", + "Bring the kitchenpot with smooth exterior upwards together", + "Lift the dark gray stove kitchenpot upward with both arms", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Carry the dark gray stove kitchenpot securely using arms", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Securely lift the cylindrical kitchenpot together", + "Place hands on the medium-sized kitchenpot, then lift.", + "Raise the round kitchenpot with handles with strong support", + "Lift the gray kitchenpot steadily with support", + "Hold and raise the dark gray stove kitchenpot together", + "Hold the gray kitchenpot firmly, then lift.", + "Raise the dark gray stove kitchenpot upward with both hands", + "Pick up the cooking kitchenpot with side grips with both arms", + "Secure the kitchenpot with smooth exterior and lift it up", + "Hold the cooking kitchenpot with side grips with both arms", + "Lift the round kitchenpot with handles using both arms now.", + "Raise the dark gray stove kitchenpot together using arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Raise the gray kitchenpot steadily using arms", + "Bring the medium-sized kitchenpot up together", + "Raise and hold the dark gray stove kitchenpot together", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Lift the kitchenpot for boiling and cooking up together", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Support the kitchenpot with smooth exterior and raise it upward", + "Hold the smooth gray kitchenpot firmly and lift it", + "Both arms lift the round kitchenpot with handles upright" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode33.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..09d66c0ccf2df313c2abfe7fcc3c04c5fffff3e1 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Grab the metal kitchenpot and lift it upwards", + "Bring the metal kitchenpot upwards together", + "Support the gray kitchenpot and raise it upward", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Grab the metal kitchenpot and lift it up", + "Use both arms to raise the round kitchenpot with handles.", + "Both arms lift the cylindrical kitchenpot upright", + "Grasp the cylindrical kitchenpot and elevate together.", + "Raise the medium kitchenpot made of metal using both arms", + "Hold and raise the cylindrical kitchenpot together", + "Hold and raise the medium kitchenpot made of metal together", + "Place hands on the metal kitchenpot, then lift.", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Raise the gray kitchenpot securely with arms", + "Lift the medium-sized kitchenpot upwards with care", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Lift the cylindrical kitchenpot upward and hold it", + "Raise the dark gray stove kitchenpot upward with both hands", + "Lift the round kitchenpot with handles up together", + "Bring the gray cylindrical metal kitchenpot up together", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Raise the cylindrical kitchenpot evenly with arms", + "Secure the smooth gray kitchenpot and lift upward.", + "Grab the cooking kitchenpot with side grips using both arms", + "Hold the smooth gray kitchenpot with both arms", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "With arms, raise the gray kitchenpot upward slowly.", + "Pick up the cylindrical kitchenpot with careful lifting", + "Pick up the medium-sized kitchenpot with both arms", + "Take hold of the round kitchenpot with handles and lift up", + "Lift the dark gray stove kitchenpot steadily using arms", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Raise and hold the smooth gray kitchenpot together", + "Hold the cylindrical kitchenpot firmly with arms", + "Securely lift the metal kitchenpot together", + "Raise the cooking kitchenpot with side grips together with arms", + "Lift the metal kitchenpot carefully using arms", + "Secure the dark gray stove kitchenpot and lift it up", + "Raise the smooth gray kitchenpot together using arms", + "Hold the metal kitchenpot and lift upward", + "Lift the smooth gray kitchenpot upward with both arms", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Raise the kitchenpot for boiling and cooking with strong support", + "Grip the dark gray stove kitchenpot firmly and lift", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Lift the medium kitchenpot made of metal steadily with support", + "Lift the cylindrical kitchenpot up using your arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Bring the metal kitchenpot upwards together", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Use both arms to raise the smooth gray kitchenpot.", + "Both arms lift the round kitchenpot with handles upright", + "Grasp the smooth gray kitchenpot and elevate together.", + "Raise the metal kitchenpot using both arms", + "Hold and raise the smooth gray kitchenpot together", + "Hold and raise the kitchenpot for boiling and cooking together", + "Place hands on the gray kitchenpot, then lift.", + "Use arms to lift the round kitchenpot with handles upward", + "Raise the cooking kitchenpot with side grips securely with arms", + "Lift the round kitchenpot with handles upwards with care", + "Hold the round kitchenpot with handles firmly and move upward.", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Lift the metal kitchenpot up together", + "Bring the kitchenpot for boiling and cooking up together", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Raise the medium kitchenpot made of metal evenly with arms", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Grab the medium kitchenpot made of metal using both arms", + "Hold the kitchenpot with smooth exterior with both arms", + "Raise the smooth gray kitchenpot steadily using arms", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Pick up the gray kitchenpot with careful lifting", + "Pick up the cooking kitchenpot with side grips with both arms", + "Take hold of the cylindrical kitchenpot and lift up", + "Lift the smooth gray kitchenpot steadily using arms", + "Carry the medium kitchenpot made of metal securely using arms", + "Raise and hold the gray kitchenpot together", + "Hold the round kitchenpot with handles firmly with arms", + "Securely lift the cooking kitchenpot with side grips together", + "Raise the gray kitchenpot together with arms", + "Lift the dark gray stove kitchenpot carefully using arms", + "Secure the round kitchenpot with handles and lift it up", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Hold the smooth gray kitchenpot and lift upward", + "Lift the medium kitchenpot made of metal upward with both arms", + "Grab the gray kitchenpot and lift together", + "Use both arms to raise the metal kitchenpot", + "Raise the dark gray stove kitchenpot with strong support", + "Grip the cylindrical kitchenpot firmly and lift", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Lift the cylindrical kitchenpot steadily with support", + "Lift the medium kitchenpot made of metal up using your arms", + "Lift the medium kitchenpot made of metal using both arms now." + ], + "unseen": [ + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode34.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..c4ff4374782623213bdadddd65e88498fc335713 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Lift the medium-sized kitchenpot upwards with care", + "Lift the kitchenpot with smooth exterior up together", + "Lift the round kitchenpot with handles up using your arms", + "Lift the smooth gray kitchenpot using both arms now.", + "Lift the metal kitchenpot steadily using arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise the cooking kitchenpot with side grips using both arms", + "Use both arms to raise the medium kitchenpot made of metal.", + "Lift the gray kitchenpot steadily with support", + "Use both arms to raise the smooth gray kitchenpot", + "Grab the cylindrical kitchenpot and lift it up", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Hold the smooth gray kitchenpot and lift upward", + "Use arms to lift the dark gray stove kitchenpot upward", + "Secure the medium kitchenpot made of metal and lift upward.", + "Raise the gray kitchenpot with strong support", + "Grab the medium-sized kitchenpot and lift together", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Raise the kitchenpot with smooth exterior together with arms", + "Securely lift the kitchenpot with smooth exterior together", + "Bring the smooth gray kitchenpot up together", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Grip the round kitchenpot with handles firmly and lift", + "Both arms lift the gray kitchenpot upright", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Hold and raise the kitchenpot with smooth exterior together", + "Secure the medium-sized kitchenpot and lift it up", + "Lift the medium-sized kitchenpot upward and hold it", + "Grab the cylindrical kitchenpot using both arms", + "Pick up the medium-sized kitchenpot with careful lifting", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Bring the gray kitchenpot upwards together", + "Raise the gray kitchenpot together using arms", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Raise the metal kitchenpot steadily using arms", + "Carry the round kitchenpot with handles securely using arms", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Hold the gray kitchenpot firmly with arms", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Raise and hold the smooth gray kitchenpot together", + "Hold the metal kitchenpot firmly and lift it", + "Engage arms to grip and lift the gray kitchenpot.", + "Hold and raise the cylindrical kitchenpot together", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Lift the medium-sized kitchenpot upwards with care", + "Lift the cooking kitchenpot with side grips up together", + "Lift the gray kitchenpot up using your arms", + "Lift the gray kitchenpot using both arms now.", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Raise the cylindrical kitchenpot using both arms", + "Use both arms to raise the medium-sized kitchenpot.", + "Lift the gray kitchenpot steadily with support", + "Use both arms to raise the gray kitchenpot", + "Grab the medium-sized kitchenpot and lift it up", + "Pick up the cylindrical kitchenpot with both arms", + "Support the medium-sized kitchenpot and raise it upward", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Raise the metal kitchenpot securely with arms", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Hold the round kitchenpot with handles and lift upward", + "Use arms to lift the dark gray stove kitchenpot upward", + "Secure the medium-sized kitchenpot and lift upward.", + "Raise the dark gray stove kitchenpot with strong support", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Raise the cylindrical kitchenpot together with arms", + "Securely lift the medium kitchenpot made of metal together", + "Bring the medium-sized kitchenpot up together", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Both arms lift the round kitchenpot with handles upright", + "Hold the gray kitchenpot with both arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Hold and raise the round kitchenpot with handles together", + "Secure the cooking kitchenpot with side grips and lift it up", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Grab the round kitchenpot with handles using both arms", + "Pick up the gray kitchenpot with careful lifting", + "Lift the cylindrical kitchenpot upward with both arms", + "Bring the round kitchenpot with handles upwards together", + "Raise the gray kitchenpot together using arms", + "Take hold of the dark gray stove kitchenpot and lift up", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Carry the gray kitchenpot securely using arms", + "Place hands on the metal kitchenpot, then lift.", + "Hold the round kitchenpot with handles firmly with arms", + "Raise the round kitchenpot with handles upward with both hands", + "Raise and hold the medium kitchenpot made of metal together", + "Hold the metal kitchenpot firmly and lift it", + "Engage arms to grip and lift the metal kitchenpot.", + "Hold and raise the smooth gray kitchenpot together" + ], + "unseen": [ + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode35.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..8ae83e8a5881b9592325738f11a1fbceb43f9224 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use both arms to raise the cylindrical kitchenpot.", + "Lift the medium kitchenpot made of metal steadily with support", + "Hold the gray kitchenpot firmly, then lift.", + "Raise the cylindrical kitchenpot together using arms", + "Grab the round kitchenpot with handles and lift together", + "Lift the round kitchenpot with handles upward and hold it", + "Secure the metal kitchenpot and lift upward.", + "Lift the kitchenpot for boiling and cooking up together", + "Both arms lift the gray kitchenpot upright", + "Raise and hold the kitchenpot with smooth exterior together", + "Lift the dark gray stove kitchenpot upward with both arms", + "Grasp the metal kitchenpot and elevate together.", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Lift the gray kitchenpot carefully using arms", + "Grab the round kitchenpot with handles and lift it up", + "Grab the cylindrical kitchenpot using both arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Hold the medium-sized kitchenpot firmly and lift it", + "Bring the gray kitchenpot upwards together", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Hold the metal kitchenpot firmly with arms", + "Hold and raise the medium-sized kitchenpot together", + "Lift the metal kitchenpot upwards with care", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Hold the kitchenpot with smooth exterior with both arms", + "Raise the dark gray stove kitchenpot with strong support", + "Support the smooth gray kitchenpot and raise it upward", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Hold and raise the cylindrical kitchenpot together", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Pick up the metal kitchenpot with careful lifting", + "Pick up the medium-sized kitchenpot with both arms", + "Place hands on the cylindrical kitchenpot, then lift.", + "Raise the medium-sized kitchenpot upward with both hands", + "Raise the metal kitchenpot using both arms", + "Bring the kitchenpot for boiling and cooking up together", + "Raise the kitchenpot with smooth exterior together with arms", + "Carry the gray kitchenpot securely using arms", + "Hold the gray kitchenpot and lift upward", + "Raise the gray kitchenpot steadily using arms", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Use arms to lift the dark gray stove kitchenpot upward", + "Securely lift the round kitchenpot with handles together", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Lift the medium kitchenpot made of metal up using your arms", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Use both arms to raise the gray kitchenpot.", + "Lift the smooth gray kitchenpot steadily with support", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Raise the metal kitchenpot together using arms", + "Grab the medium-sized kitchenpot and lift together", + "Lift the round kitchenpot with handles upward and hold it", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Lift the cooking kitchenpot with side grips up together", + "Both arms lift the cooking kitchenpot with side grips upright", + "Raise and hold the medium kitchenpot made of metal together", + "Lift the round kitchenpot with handles upward with both arms", + "Grasp the medium-sized kitchenpot and elevate together.", + "Raise the kitchenpot with smooth exterior securely with arms", + "Lift the medium kitchenpot made of metal carefully using arms", + "Grab the metal kitchenpot and lift it up", + "Grab the medium kitchenpot made of metal using both arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Bring the smooth gray kitchenpot upwards together", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Grip the dark gray stove kitchenpot firmly and lift", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Hold and raise the gray kitchenpot together", + "Lift the cooking kitchenpot with side grips upwards with care", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Hold the metal kitchenpot with both arms", + "Raise the gray kitchenpot with strong support", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Hold and raise the medium kitchenpot made of metal together", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Pick up the medium-sized kitchenpot with careful lifting", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Raise the dark gray stove kitchenpot using both arms", + "Bring the medium kitchenpot made of metal up together", + "Raise the medium kitchenpot made of metal together with arms", + "Carry the medium kitchenpot made of metal securely using arms", + "Hold the smooth gray kitchenpot and lift upward", + "Raise the metal kitchenpot steadily using arms", + "Secure the medium-sized kitchenpot and lift it up", + "Use arms to lift the dark gray stove kitchenpot upward", + "Securely lift the kitchenpot for boiling and cooking together", + "Lift the cylindrical kitchenpot using both arms now.", + "Use both arms to raise the metal kitchenpot", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Grab the cylindrical kitchenpot and lift it upwards", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Hold the gray cylindrical metal kitchenpot firmly and move upward." + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode36.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..03e220ac64934a2f5642a99ee405069384e82220 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the medium-sized kitchenpot securely with arms", + "Grab the cooking kitchenpot with side grips and lift it up", + "Grab the smooth gray kitchenpot and lift it upwards", + "Lift the cooking kitchenpot with side grips upwards with care", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Lift the smooth gray kitchenpot up using your arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Securely lift the round kitchenpot with handles together", + "Hold the dark gray stove kitchenpot with both arms", + "Support the cooking kitchenpot with side grips and raise it upward", + "Use both arms to raise the medium-sized kitchenpot", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Raise the medium-sized kitchenpot using both arms", + "Place hands on the metal kitchenpot, then lift.", + "Raise the smooth gray kitchenpot together using arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Grab the gray kitchenpot and lift together", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Lift the metal kitchenpot steadily using arms", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Hold and raise the smooth gray kitchenpot together", + "Pick up the round kitchenpot with handles with both arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Hold and raise the smooth gray kitchenpot together", + "Secure the medium kitchenpot made of metal and lift upward.", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Use both arms to raise the round kitchenpot with handles.", + "Hold the medium kitchenpot made of metal firmly with arms", + "Use arms to lift the dark gray stove kitchenpot upward", + "Carry the medium-sized kitchenpot securely using arms", + "Raise the round kitchenpot with handles with strong support", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Lift the cooking kitchenpot with side grips up together", + "Secure the medium-sized kitchenpot and lift it up", + "Raise the round kitchenpot with handles upward with both hands", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Bring the medium kitchenpot made of metal up together", + "Bring the medium kitchenpot made of metal upwards together", + "Grab the cylindrical kitchenpot using both arms", + "Raise the medium kitchenpot made of metal together with arms", + "Both arms lift the medium kitchenpot made of metal upright", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Lift the smooth gray kitchenpot upward with both arms", + "Raise the medium kitchenpot made of metal securely with arms", + "Grab the gray kitchenpot and lift it up", + "Grab the cylindrical kitchenpot and lift it upwards", + "Lift the medium-sized kitchenpot upwards with care", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Lift the dark gray stove kitchenpot up using your arms", + "Lift the gray kitchenpot carefully using arms", + "Securely lift the smooth gray kitchenpot together", + "Hold the round kitchenpot with handles with both arms", + "Support the cylindrical kitchenpot and raise it upward", + "Use both arms to raise the medium-sized kitchenpot", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise the gray kitchenpot using both arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Raise the cooking kitchenpot with side grips together using arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Take hold of the metal kitchenpot and lift up", + "Grab the cylindrical kitchenpot and lift together", + "With arms, raise the metal kitchenpot upward slowly.", + "Lift the dark gray stove kitchenpot steadily using arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Hold and raise the dark gray stove kitchenpot together", + "Pick up the metal kitchenpot with both arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Hold and raise the gray kitchenpot together", + "Secure the medium kitchenpot made of metal and lift upward.", + "Grasp the cylindrical kitchenpot and elevate together.", + "Use both arms to raise the cylindrical kitchenpot.", + "Hold the medium kitchenpot made of metal firmly with arms", + "Use arms to lift the smooth gray kitchenpot upward", + "Carry the smooth gray kitchenpot securely using arms", + "Raise the round kitchenpot with handles with strong support", + "Raise and hold the kitchenpot with smooth exterior together", + "Lift the dark gray stove kitchenpot using both arms now.", + "Grip the dark gray stove kitchenpot firmly and lift", + "Lift the round kitchenpot with handles up together", + "Secure the medium-sized kitchenpot and lift it up", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Hold the dark gray stove kitchenpot and lift upward", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Bring the dark gray stove kitchenpot up together", + "Bring the smooth gray kitchenpot upwards together", + "Grab the medium-sized kitchenpot using both arms", + "Raise the gray kitchenpot together with arms", + "Both arms lift the medium-sized kitchenpot upright", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Hold the round kitchenpot with handles firmly, then lift.", + "Lift the round kitchenpot with handles upward with both arms" + ], + "unseen": [ + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode37.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..14e682ecd295d736199966a48024b8c5520b0057 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the cooking kitchenpot with side grips with both arms", + "Raise the metal kitchenpot evenly with arms", + "Hold the medium kitchenpot made of metal and lift upward", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Hold and raise the medium-sized kitchenpot together", + "Pick up the round kitchenpot with handles with both arms", + "Raise the dark gray stove kitchenpot together using arms", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Lift the medium-sized kitchenpot upward with both arms", + "Lift the dark gray stove kitchenpot using both arms now.", + "Grab the dark gray stove kitchenpot using both arms", + "Raise and hold the gray kitchenpot together", + "Raise the cylindrical kitchenpot with strong support", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Lift the smooth gray kitchenpot steadily using arms", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Engage arms to grip and lift the metal kitchenpot.", + "Raise the cylindrical kitchenpot together with arms", + "Securely lift the kitchenpot with smooth exterior together", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Use arms to lift the gray kitchenpot upward", + "Carry the dark gray stove kitchenpot securely using arms", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Raise the cooking kitchenpot with side grips securely with arms", + "Pick up the medium-sized kitchenpot with careful lifting", + "Grab the medium-sized kitchenpot and lift it up", + "Secure the medium kitchenpot made of metal and lift upward.", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Raise the metal kitchenpot using both arms", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Hold and raise the smooth gray kitchenpot together", + "Lift the round kitchenpot with handles upwards with care", + "Take hold of the medium-sized kitchenpot and lift up", + "Lift the metal kitchenpot carefully using arms", + "Secure the round kitchenpot with handles and lift it up", + "Grab the medium-sized kitchenpot and lift it upwards", + "Lift the medium kitchenpot made of metal up together", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Use both arms to raise the gray kitchenpot.", + "Bring the kitchenpot for boiling and cooking up together", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Use both arms to raise the metal kitchenpot", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Bring the cooking kitchenpot with side grips upwards together", + "Lift the round kitchenpot with handles carefully using both arms.", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Hold the cylindrical kitchenpot with both arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Hold the gray kitchenpot and lift upward", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Raise the metal kitchenpot steadily using arms", + "Hold and raise the dark gray stove kitchenpot together", + "Pick up the smooth gray kitchenpot with both arms", + "Raise the medium kitchenpot made of metal together using arms", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Lift the medium-sized kitchenpot upward with both arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Grab the cylindrical kitchenpot using both arms", + "Raise and hold the kitchenpot for boiling and cooking together", + "Raise the medium-sized kitchenpot with strong support", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Lift the metal kitchenpot steadily using arms", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Raise the medium-sized kitchenpot together with arms", + "Securely lift the kitchenpot for boiling and cooking together", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Grab the medium-sized kitchenpot and lift together", + "Use arms to lift the round kitchenpot with handles upward", + "Carry the medium-sized kitchenpot securely using arms", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Raise the medium kitchenpot made of metal securely with arms", + "Pick up the cylindrical kitchenpot with careful lifting", + "Grab the cooking kitchenpot with side grips and lift it up", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Hold the cylindrical kitchenpot firmly and lift it", + "Both arms lift the cylindrical kitchenpot upright", + "Raise the medium kitchenpot made of metal using both arms", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Lift the medium-sized kitchenpot upward and hold it", + "Hold and raise the cooking kitchenpot with side grips together", + "Lift the smooth gray kitchenpot upwards with care", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Grab the metal kitchenpot and lift it upwards", + "Lift the dark gray stove kitchenpot up together", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Use both arms to raise the medium-sized kitchenpot.", + "Bring the gray cylindrical metal kitchenpot up together", + "Lift the cooking kitchenpot with side grips up using your arms", + "Use both arms to raise the gray kitchenpot", + "Grip the dark gray stove kitchenpot firmly and lift", + "Bring the cylindrical kitchenpot upwards together", + "Lift the gray kitchenpot carefully using both arms.", + "Raise the dark gray stove kitchenpot upward with both hands" + ], + "unseen": [ + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode38.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..36b8480a9910910b989e23010ac371e98a219e44 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium-sized kitchenpot firmly, then lift.", + "Secure the gray kitchenpot and lift upward.", + "Lift the cylindrical kitchenpot upwards with care", + "Raise the gray kitchenpot securely with arms", + "Hold and raise the metal kitchenpot together", + "Hold the cylindrical kitchenpot firmly and lift it", + "Hold the metal kitchenpot with both arms", + "Lift the round kitchenpot with handles carefully using arms", + "Securely lift the cylindrical kitchenpot together", + "Lift the round kitchenpot with handles using both arms now.", + "Take hold of the medium kitchenpot made of metal and lift up", + "Grip the cylindrical kitchenpot firmly and lift", + "Lift the cylindrical kitchenpot steadily with support", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Lift the medium kitchenpot made of metal up using your arms", + "Raise the kitchenpot with smooth exterior using both arms", + "Raise the smooth gray kitchenpot together using arms", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Use both arms to raise the dark gray stove kitchenpot", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Lift the gray kitchenpot carefully using both arms.", + "Secure the dark gray stove kitchenpot and lift it up", + "Pick up the smooth gray kitchenpot with careful lifting", + "Use arms to lift the smooth gray kitchenpot upward", + "Carry the medium kitchenpot made of metal securely using arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Lift the cooking kitchenpot with side grips up together", + "Lift the round kitchenpot with handles upward with both arms", + "Grab the smooth gray kitchenpot and lift together", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Raise and hold the cooking kitchenpot with side grips together", + "Grab the medium kitchenpot made of metal using both arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Hold and raise the medium-sized kitchenpot together", + "Bring the kitchenpot with smooth exterior upwards together", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Use both arms to raise the metal kitchenpot.", + "Hold the medium-sized kitchenpot firmly with arms", + "Bring the gray kitchenpot up together", + "Grasp the round kitchenpot with handles and elevate together.", + "Grab the kitchenpot with smooth exterior and lift it up", + "Both arms lift the round kitchenpot with handles upright", + "Raise the gray kitchenpot upward with both hands", + "Raise the metal kitchenpot steadily using arms", + "Raise the medium kitchenpot made of metal with strong support", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Secure the round kitchenpot with handles and lift upward.", + "Lift the cylindrical kitchenpot upwards with care", + "Raise the gray kitchenpot securely with arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Hold the medium kitchenpot made of metal with both arms", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Securely lift the cooking kitchenpot with side grips together", + "Lift the smooth gray kitchenpot using both arms now.", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Hold the round kitchenpot with handles firmly and move upward.", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Raise the smooth gray kitchenpot using both arms", + "Raise the metal kitchenpot together using arms", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "Raise the cooking kitchenpot with side grips together with arms", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Use arms to lift the medium kitchenpot made of metal upward", + "Carry the kitchenpot with smooth exterior securely using arms", + "Pick up the medium-sized kitchenpot with both arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Lift the cooking kitchenpot with side grips up together", + "Lift the metal kitchenpot upward with both arms", + "Grab the medium-sized kitchenpot and lift together", + "Lift the medium-sized kitchenpot steadily using arms", + "Raise and hold the dark gray stove kitchenpot together", + "Grab the kitchenpot for boiling and cooking using both arms", + "Lift the metal kitchenpot upward and hold it", + "Hold and raise the cooking kitchenpot with side grips together", + "Bring the medium kitchenpot made of metal upwards together", + "Support the round kitchenpot with handles and raise it upward", + "Hold the medium-sized kitchenpot and lift upward", + "Use both arms to raise the round kitchenpot with handles.", + "Hold the gray kitchenpot firmly with arms", + "Bring the round kitchenpot with handles up together", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Both arms lift the cylindrical kitchenpot upright", + "Raise the metal kitchenpot upward with both hands", + "Raise the gray kitchenpot steadily using arms", + "Raise the metal kitchenpot with strong support" + ], + "unseen": [ + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode39.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..e025c3442ebc11be2b7505083490f12c0d525a02 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise and hold the metal kitchenpot together", + "Lift the dark gray stove kitchenpot upward with both arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the medium kitchenpot made of metal up using your arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Use both arms to raise the metal kitchenpot", + "Hold the medium kitchenpot made of metal and lift upward", + "Lift the medium kitchenpot made of metal carefully using arms", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Hold and raise the kitchenpot for boiling and cooking together", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the round kitchenpot with handles carefully using both arms.", + "Grip the medium kitchenpot made of metal firmly and lift", + "Securely lift the gray kitchenpot together", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Lift the gray kitchenpot steadily using arms", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Pick up the smooth gray kitchenpot with both arms", + "Grab the gray kitchenpot and lift together", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the kitchenpot with smooth exterior up together", + "Raise the cylindrical kitchenpot using both arms", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Raise the kitchenpot with smooth exterior together with arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Lift the medium-sized kitchenpot steadily with support", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Bring the cooking kitchenpot with side grips upwards together", + "Hold the medium-sized kitchenpot firmly and lift it", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Raise the smooth gray kitchenpot securely with arms", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Hold the cylindrical kitchenpot with both arms", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Pick up the metal kitchenpot with careful lifting", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Raise the medium-sized kitchenpot with strong support", + "Support the gray kitchenpot and raise it upward", + "Engage arms to grip and lift the metal kitchenpot.", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Both arms lift the metal kitchenpot upright", + "Grab the kitchenpot for boiling and cooking using both arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Bring the cylindrical kitchenpot up together", + "Raise the dark gray stove kitchenpot upward with both hands", + "Raise and hold the dark gray stove kitchenpot together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Hold and raise the medium-sized kitchenpot together", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Raise the gray kitchenpot evenly with arms", + "Use both arms to raise the dark gray stove kitchenpot", + "Hold the cylindrical kitchenpot and lift upward", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Carry the medium kitchenpot made of metal securely using arms", + "Lift the gray kitchenpot carefully using both arms.", + "Grip the medium kitchenpot made of metal firmly and lift", + "Securely lift the cylindrical kitchenpot together", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Lift the dark gray stove kitchenpot steadily using arms", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Grab the cylindrical kitchenpot and lift it up", + "Pick up the medium-sized kitchenpot with both arms", + "Grab the metal kitchenpot and lift together", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Lift the medium-sized kitchenpot up together", + "Raise the kitchenpot for boiling and cooking using both arms", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Raise the metal kitchenpot together with arms", + "Use arms to lift the dark gray stove kitchenpot upward", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Bring the metal kitchenpot upwards together", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Hold the medium kitchenpot made of metal firmly with arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Raise the kitchenpot with smooth exterior securely with arms", + "Raise the medium kitchenpot made of metal together using arms", + "Hold the cylindrical kitchenpot with both arms", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Pick up the cylindrical kitchenpot with careful lifting", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Support the dark gray stove kitchenpot and raise it upward", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Secure the medium kitchenpot made of metal and lift upward.", + "Both arms lift the metal kitchenpot upright", + "Grab the cooking kitchenpot with side grips using both arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Bring the metal kitchenpot up together", + "Raise the cooking kitchenpot with side grips upward with both hands" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode4.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..9b26691f23ad6b3954943d4ed00b4c3c092a84e3 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the smooth gray kitchenpot firmly and move upward.", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Lift the kitchenpot with smooth exterior steadily with support", + "Use both arms to raise the cooking kitchenpot with side grips", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Engage arms to grip and lift the gray kitchenpot.", + "Hold the round kitchenpot with handles firmly and lift it", + "Raise the kitchenpot with smooth exterior securely with arms", + "Raise the smooth gray kitchenpot evenly with arms", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Bring the medium kitchenpot made of metal upwards together", + "Both arms lift the gray kitchenpot upright", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Grasp the cylindrical kitchenpot and elevate together.", + "Raise the medium-sized kitchenpot with strong support", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Lift the gray kitchenpot upward with both arms", + "Grab the smooth gray kitchenpot using both arms", + "Use arms to lift the gray kitchenpot upward", + "Pick up the gray kitchenpot with careful lifting", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Lift the cylindrical kitchenpot steadily using arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Hold the round kitchenpot with handles with both arms", + "Hold the gray kitchenpot firmly, then lift.", + "Raise the medium kitchenpot made of metal together with arms", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Secure the metal kitchenpot and lift upward.", + "Raise the dark gray stove kitchenpot upward with both hands", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Take hold of the medium kitchenpot made of metal and lift up", + "Raise the metal kitchenpot together using arms", + "Raise the gray kitchenpot using both arms", + "Hold and raise the cylindrical kitchenpot together", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the round kitchenpot with handles carefully using arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the smooth gray kitchenpot up using your arms", + "Lift the dark gray stove kitchenpot upwards with care", + "Carry the cylindrical kitchenpot securely using arms", + "Raise and hold the kitchenpot with smooth exterior together", + "Lift the gray cylindrical metal kitchenpot up together", + "Lift the gray kitchenpot upward and hold it", + "Hold and raise the medium-sized kitchenpot together", + "Securely lift the metal kitchenpot together", + "Bring the kitchenpot for boiling and cooking up together", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Lift the dark gray stove kitchenpot using both arms now.", + "Lift the medium-sized kitchenpot steadily with support", + "Use both arms to raise the metal kitchenpot", + "Raise the medium-sized kitchenpot steadily using arms", + "Use both arms to raise the metal kitchenpot.", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Raise the medium-sized kitchenpot securely with arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Hold the medium kitchenpot made of metal firmly with arms", + "Bring the kitchenpot for boiling and cooking upwards together", + "Both arms lift the cooking kitchenpot with side grips upright", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Grasp the cylindrical kitchenpot and elevate together.", + "Raise the round kitchenpot with handles with strong support", + "Grab the gray kitchenpot and lift it up", + "Lift the smooth gray kitchenpot upward with both arms", + "Grab the metal kitchenpot using both arms", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Pick up the cylindrical kitchenpot with careful lifting", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Lift the round kitchenpot with handles steadily using arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Hold the medium kitchenpot made of metal with both arms", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Raise the kitchenpot with smooth exterior together with arms", + "Grab the gray kitchenpot and lift it upwards", + "Secure the medium-sized kitchenpot and lift upward.", + "Raise the metal kitchenpot upward with both hands", + "Support the cooking kitchenpot with side grips and raise it upward", + "Take hold of the smooth gray kitchenpot and lift up", + "Raise the smooth gray kitchenpot together using arms", + "Raise the medium-sized kitchenpot using both arms", + "Hold and raise the medium kitchenpot made of metal together", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the smooth gray kitchenpot carefully using arms", + "Pick up the cooking kitchenpot with side grips with both arms", + "Lift the medium-sized kitchenpot up using your arms", + "Lift the kitchenpot with smooth exterior upwards with care", + "Carry the medium kitchenpot made of metal securely using arms", + "Raise and hold the kitchenpot with smooth exterior together", + "Lift the cooking kitchenpot with side grips up together", + "Lift the smooth gray kitchenpot upward and hold it", + "Hold and raise the dark gray stove kitchenpot together", + "Securely lift the gray kitchenpot together", + "Bring the medium kitchenpot made of metal up together", + "Place hands on the kitchenpot with smooth exterior, then lift." + ], + "unseen": [ + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode40.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..9097ed2e62ff2abe877ab57de3edd767280d3944 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the medium kitchenpot made of metal steadily with support", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Grab the medium kitchenpot made of metal and lift together", + "Hold the round kitchenpot with handles with both arms", + "Hold the cooking kitchenpot with side grips and lift upward", + "Support the metal kitchenpot and raise it upward", + "Bring the dark gray stove kitchenpot up together", + "Take hold of the medium-sized kitchenpot and lift up", + "Use both arms to raise the gray kitchenpot", + "Raise the smooth gray kitchenpot securely with arms", + "Raise the medium kitchenpot made of metal with strong support", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Grab the kitchenpot for boiling and cooking using both arms", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Raise the smooth gray kitchenpot together using arms", + "Use both arms to raise the medium-sized kitchenpot.", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Lift the medium kitchenpot made of metal steadily using arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Lift the metal kitchenpot upward with both arms", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Raise the gray kitchenpot steadily using arms", + "Secure the metal kitchenpot and lift upward.", + "Hold the round kitchenpot with handles firmly with arms", + "Raise the cylindrical kitchenpot using both arms", + "Raise the dark gray stove kitchenpot upward with both hands", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Place hands on the gray kitchenpot, then lift.", + "Lift the gray cylindrical metal kitchenpot up together", + "Raise the dark gray stove kitchenpot evenly with arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the metal kitchenpot using both arms now.", + "Grab the dark gray stove kitchenpot and lift it up", + "Lift the dark gray stove kitchenpot upwards with care", + "Carry the dark gray stove kitchenpot securely using arms", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Hold and raise the gray kitchenpot together", + "Securely lift the metal kitchenpot together", + "Use arms to lift the gray kitchenpot upward", + "Grab the cylindrical kitchenpot and lift it upwards", + "Raise the round kitchenpot with handles together with arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Pick up the round kitchenpot with handles with careful lifting", + "Hold and raise the round kitchenpot with handles together", + "Bring the medium kitchenpot made of metal upwards together", + "Lift the medium-sized kitchenpot up using your arms", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Pick up the metal kitchenpot with both arms", + "Lift the dark gray stove kitchenpot steadily with support", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Grab the dark gray stove kitchenpot and lift together", + "Hold the metal kitchenpot with both arms", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Support the metal kitchenpot and raise it upward", + "Bring the gray cylindrical metal kitchenpot up together", + "Take hold of the smooth gray kitchenpot and lift up", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Raise the medium-sized kitchenpot with strong support", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Hold the smooth gray kitchenpot firmly and lift it", + "Grab the cylindrical kitchenpot using both arms", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Raise the medium kitchenpot made of metal together using arms", + "Use both arms to raise the cylindrical kitchenpot.", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Grip the cylindrical kitchenpot firmly and lift", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Hold the medium-sized kitchenpot firmly with arms", + "Raise the medium kitchenpot made of metal using both arms", + "Raise the round kitchenpot with handles upward with both hands", + "Raise and hold the kitchenpot with smooth exterior together", + "Place hands on the gray kitchenpot, then lift.", + "Lift the kitchenpot with smooth exterior up together", + "Raise the smooth gray kitchenpot evenly with arms", + "Secure the cylindrical kitchenpot and lift it up", + "Lift the smooth gray kitchenpot using both arms now.", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Lift the metal kitchenpot upwards with care", + "Carry the gray kitchenpot securely using arms", + "Both arms lift the gray kitchenpot upright", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Securely lift the kitchenpot for boiling and cooking together", + "Use arms to lift the medium kitchenpot made of metal upward", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Pick up the gray kitchenpot with careful lifting", + "Hold and raise the kitchenpot with smooth exterior together", + "Bring the cooking kitchenpot with side grips upwards together", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Pick up the kitchenpot for boiling and cooking with both arms" + ], + "unseen": [ + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode41.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..9217be32ee8f9ba4aca44233ed7be658120a01c1 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Carry the medium kitchenpot made of metal securely using arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Grab the medium kitchenpot made of metal using both arms", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Bring the cylindrical kitchenpot upwards together", + "Both arms lift the cylindrical kitchenpot upright", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Raise the round kitchenpot with handles upward with both hands", + "Hold the dark gray stove kitchenpot firmly with arms", + "Lift the medium-sized kitchenpot up together", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Support the gray kitchenpot and raise it upward", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Lift the kitchenpot with smooth exterior steadily with support", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Hold the kitchenpot for boiling and cooking with both arms", + "Raise the medium-sized kitchenpot together with arms", + "Raise the medium kitchenpot made of metal with strong support", + "Hold the round kitchenpot with handles and lift upward", + "Raise the metal kitchenpot together using arms", + "Lift the cylindrical kitchenpot carefully using arms", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Raise the metal kitchenpot using both arms", + "Hold and raise the smooth gray kitchenpot together", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Raise and hold the cooking kitchenpot with side grips together", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Grab the gray kitchenpot and lift together", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Grab the smooth gray kitchenpot and lift it upwards", + "Securely lift the medium kitchenpot made of metal together", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Secure the cylindrical kitchenpot and lift upward.", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Use both arms to raise the metal kitchenpot.", + "Use arms to lift the gray kitchenpot upward", + "Lift the metal kitchenpot upwards with care", + "Lift the cylindrical kitchenpot upward and hold it", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Take hold of the round kitchenpot with handles and lift up", + "Bring the gray kitchenpot up together", + "Grasp the medium kitchenpot made of metal and elevate together.", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Raise the smooth gray kitchenpot steadily using arms", + "Carry the kitchenpot with smooth exterior securely using arms", + "Raise the smooth gray kitchenpot evenly with arms", + "Grab the round kitchenpot with handles using both arms", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Both arms lift the dark gray stove kitchenpot upright", + "Lift the dark gray stove kitchenpot using both arms now.", + "Raise the medium kitchenpot made of metal upward with both hands", + "Hold the cylindrical kitchenpot firmly with arms", + "Lift the cylindrical kitchenpot up together", + "Lift the round kitchenpot with handles steadily using arms", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Hold the medium-sized kitchenpot firmly and lift it", + "Lift the kitchenpot with smooth exterior steadily with support", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Hold the medium kitchenpot made of metal with both arms", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Raise the medium-sized kitchenpot with strong support", + "Hold the kitchenpot with smooth exterior and lift upward", + "Raise the metal kitchenpot together using arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Grip the dark gray stove kitchenpot firmly and lift", + "Lift the smooth gray kitchenpot upward with both arms", + "Raise the medium kitchenpot made of metal using both arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Grab the dark gray stove kitchenpot and lift it up", + "Raise and hold the smooth gray kitchenpot together", + "Pick up the gray kitchenpot with both arms", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Grab the metal kitchenpot and lift together", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Securely lift the kitchenpot with smooth exterior together", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Secure the round kitchenpot with handles and lift upward.", + "Secure the dark gray stove kitchenpot and lift it up", + "Use both arms to raise the smooth gray kitchenpot.", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Lift the smooth gray kitchenpot upwards with care", + "Lift the cylindrical kitchenpot upward and hold it", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Lift the metal kitchenpot up using your arms", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Raise the smooth gray kitchenpot securely with arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Take hold of the smooth gray kitchenpot and lift up", + "Bring the smooth gray kitchenpot up together", + "Grasp the dark gray stove kitchenpot and elevate together." + ], + "unseen": [ + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode42.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..6cd191cea0c6578c1df1cd1459df2d5d2922d0bb --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the gray kitchenpot firmly and lift it", + "Carry the smooth gray kitchenpot securely using arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Grab the cylindrical kitchenpot and lift together", + "Bring the gray kitchenpot up together", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Raise the cylindrical kitchenpot using both arms", + "Grip the cylindrical kitchenpot firmly and lift", + "Use both arms to raise the medium kitchenpot made of metal", + "Lift the medium-sized kitchenpot up using your arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Secure the cooking kitchenpot with side grips and lift it up", + "Raise the kitchenpot for boiling and cooking together with arms", + "Take hold of the metal kitchenpot and lift up", + "Lift the metal kitchenpot carefully using both arms.", + "Lift the round kitchenpot with handles steadily using arms", + "Pick up the cylindrical kitchenpot with both arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Lift the round kitchenpot with handles upward with both arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Grab the medium-sized kitchenpot using both arms", + "Use arms to lift the metal kitchenpot upward", + "Hold and raise the cylindrical kitchenpot together", + "Lift the medium-sized kitchenpot upward and hold it", + "Raise the cylindrical kitchenpot steadily using arms", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Grasp the round kitchenpot with handles and elevate together.", + "Raise the smooth gray kitchenpot together using arms", + "Support the cylindrical kitchenpot and raise it upward", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Raise the smooth gray kitchenpot with strong support", + "Place hands on the smooth gray kitchenpot, then lift.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Raise the round kitchenpot with handles upward with both hands", + "Bring the gray kitchenpot upwards together", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Hold the medium-sized kitchenpot with both arms", + "Grab the cylindrical kitchenpot and lift it upwards", + "Hold and raise the smooth gray kitchenpot together", + "Lift the kitchenpot for boiling and cooking up together", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Use both arms to raise the metal kitchenpot.", + "Raise and hold the medium kitchenpot made of metal together", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Securely lift the dark gray stove kitchenpot together", + "Raise the smooth gray kitchenpot securely with arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Grab the medium kitchenpot made of metal and lift together", + "Bring the kitchenpot with smooth exterior up together", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Raise the gray kitchenpot using both arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Use both arms to raise the medium kitchenpot made of metal", + "Lift the round kitchenpot with handles up using your arms", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Secure the round kitchenpot with handles and lift it up", + "Raise the cooking kitchenpot with side grips together with arms", + "Take hold of the smooth gray kitchenpot and lift up", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Lift the dark gray stove kitchenpot steadily using arms", + "Pick up the cooking kitchenpot with side grips with both arms", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Lift the smooth gray kitchenpot upward with both arms", + "Lift the medium-sized kitchenpot steadily with support", + "Grab the kitchenpot for boiling and cooking using both arms", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold and raise the dark gray stove kitchenpot together", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Raise the round kitchenpot with handles steadily using arms", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Engage arms to grip and lift the gray kitchenpot.", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Raise the kitchenpot for boiling and cooking together using arms", + "Support the metal kitchenpot and raise it upward", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Lift the dark gray stove kitchenpot using both arms now.", + "Raise the dark gray stove kitchenpot with strong support", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Hold the gray kitchenpot firmly with arms", + "Raise the metal kitchenpot upward with both hands", + "Bring the smooth gray kitchenpot upwards together", + "Hold the dark gray stove kitchenpot and lift upward", + "Hold the smooth gray kitchenpot with both arms", + "Grab the cylindrical kitchenpot and lift it upwards", + "Hold and raise the gray kitchenpot together", + "Lift the round kitchenpot with handles up together", + "Both arms lift the kitchenpot with smooth exterior upright", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Raise and hold the cooking kitchenpot with side grips together", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Securely lift the cylindrical kitchenpot together", + "Raise the dark gray stove kitchenpot securely with arms" + ], + "unseen": [ + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode43.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..8bb9c1e7f477dab51272b364e64285f28a9462be --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the smooth gray kitchenpot firmly and move upward.", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Take hold of the medium kitchenpot made of metal and lift up", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Secure the gray kitchenpot and lift it up", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Engage arms to grip and lift the gray kitchenpot.", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Securely lift the kitchenpot for boiling and cooking together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise and hold the medium kitchenpot made of metal together", + "Raise the metal kitchenpot with strong support", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Lift the metal kitchenpot steadily using arms", + "Lift the medium-sized kitchenpot steadily with support", + "Hold the dark gray stove kitchenpot with both arms", + "Grab the dark gray stove kitchenpot and lift together", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Carry the kitchenpot with smooth exterior securely using arms", + "Raise the medium kitchenpot made of metal using both arms", + "Grab the gray kitchenpot and lift it upwards", + "Hold the medium kitchenpot made of metal firmly with arms", + "Raise the dark gray stove kitchenpot together with arms", + "Place hands on the metal kitchenpot, then lift.", + "Bring the gray kitchenpot up together", + "Lift the round kitchenpot with handles using both arms now.", + "Raise the cooking kitchenpot with side grips securely with arms", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Lift the smooth gray kitchenpot upwards with care", + "Lift the cooking kitchenpot with side grips upward and hold it", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Use arms to lift the medium-sized kitchenpot upward", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Hold the smooth gray kitchenpot and lift upward", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Grab the medium-sized kitchenpot using both arms", + "Hold and raise the gray kitchenpot together", + "Use both arms to raise the medium kitchenpot made of metal.", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Lift the medium kitchenpot made of metal up together", + "Lift the round kitchenpot with handles up using your arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Use both arms to raise the round kitchenpot with handles", + "Hold and raise the medium kitchenpot made of metal together", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Take hold of the gray kitchenpot and lift up", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Secure the medium-sized kitchenpot and lift it up", + "Grip the cylindrical kitchenpot firmly and lift", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Securely lift the cooking kitchenpot with side grips together", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Raise the round kitchenpot with handles evenly with arms", + "Raise and hold the medium kitchenpot made of metal together", + "Raise the cooking kitchenpot with side grips with strong support", + "Lift the medium kitchenpot made of metal carefully using arms", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Hold the kitchenpot for boiling and cooking with both arms", + "Grab the cylindrical kitchenpot and lift together", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Carry the gray kitchenpot securely using arms", + "Raise the medium-sized kitchenpot using both arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Hold the medium kitchenpot made of metal firmly with arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Bring the smooth gray kitchenpot up together", + "Lift the dark gray stove kitchenpot using both arms now.", + "Raise the gray kitchenpot securely with arms", + "Raise the round kitchenpot with handles upward with both hands", + "Raise the gray kitchenpot steadily using arms", + "Lift the medium-sized kitchenpot upwards with care", + "Lift the cooking kitchenpot with side grips upward and hold it", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Use arms to lift the gray kitchenpot upward", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Hold the medium kitchenpot made of metal and lift upward", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Grab the round kitchenpot with handles using both arms", + "Hold and raise the cylindrical kitchenpot together", + "Use both arms to raise the metal kitchenpot.", + "Grab the medium-sized kitchenpot and lift it up", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Lift the gray cylindrical metal kitchenpot up together", + "Lift the smooth gray kitchenpot up using your arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "Bring the gray kitchenpot upwards together", + "Raise the cooking kitchenpot with side grips together using arms", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Hold and raise the smooth gray kitchenpot together" + ], + "unseen": [ + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode44.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..1fd85832b3e4edae2703adf4155dd8d61fdb34b6 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Lift the metal kitchenpot carefully using arms", + "Hold the smooth gray kitchenpot firmly and lift it", + "Bring the medium kitchenpot made of metal upwards together", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Hold the medium kitchenpot made of metal and lift upward", + "Grip the gray kitchenpot firmly and lift", + "Raise the medium kitchenpot made of metal using both arms", + "Securely lift the gray kitchenpot together", + "Hold and raise the smooth gray kitchenpot together", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Use arms to lift the cylindrical kitchenpot upward", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Hold and raise the metal kitchenpot together", + "Lift the gray kitchenpot upwards with care", + "Support the round kitchenpot with handles and raise it upward", + "Raise and hold the dark gray stove kitchenpot together", + "Lift the cylindrical kitchenpot steadily using arms", + "Hold the cylindrical kitchenpot firmly with arms", + "Hold the gray kitchenpot firmly, then lift.", + "Lift the smooth gray kitchenpot upward and hold it", + "Lift the medium-sized kitchenpot using both arms now.", + "Secure the smooth gray kitchenpot and lift it up", + "Raise the kitchenpot with smooth exterior securely with arms", + "Raise the dark gray stove kitchenpot upward with both hands", + "Lift the cylindrical kitchenpot upward with both arms", + "Both arms lift the cylindrical kitchenpot upright", + "Grab the gray kitchenpot using both arms", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Raise the gray kitchenpot together with arms", + "Bring the cylindrical kitchenpot up together", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Grab the round kitchenpot with handles and lift it upwards", + "Raise the metal kitchenpot with strong support", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Raise the metal kitchenpot steadily using arms", + "Hold the kitchenpot with smooth exterior with both arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Take hold of the dark gray stove kitchenpot and lift up", + "Carry the medium-sized kitchenpot securely using arms", + "Grab the dark gray stove kitchenpot and lift together", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Grab the medium-sized kitchenpot and lift it up", + "Raise the cylindrical kitchenpot together using arms", + "Lift the medium-sized kitchenpot up using your arms", + "Lift the medium-sized kitchenpot up together", + "Engage arms to grip and lift the gray kitchenpot.", + "Lift the cylindrical kitchenpot carefully using arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Lift the cooking kitchenpot with side grips steadily with support", + "Hold the kitchenpot with smooth exterior and lift upward", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Raise the round kitchenpot with handles using both arms", + "Securely lift the cooking kitchenpot with side grips together", + "Hold and raise the metal kitchenpot together", + "Pick up the medium kitchenpot made of metal with both arms", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Use both arms to raise the dark gray stove kitchenpot.", + "Use arms to lift the gray kitchenpot upward", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the gray kitchenpot upwards with care", + "Support the round kitchenpot with handles and raise it upward", + "Raise and hold the kitchenpot for boiling and cooking together", + "Lift the medium-sized kitchenpot steadily using arms", + "Hold the round kitchenpot with handles firmly with arms", + "Hold the gray kitchenpot firmly, then lift.", + "Lift the smooth gray kitchenpot upward and hold it", + "Lift the dark gray stove kitchenpot using both arms now.", + "Secure the cylindrical kitchenpot and lift it up", + "Raise the gray kitchenpot securely with arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Both arms lift the medium-sized kitchenpot upright", + "Grab the kitchenpot with smooth exterior using both arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Raise the medium-sized kitchenpot together with arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Place hands on the cylindrical kitchenpot, then lift.", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Raise the smooth gray kitchenpot with strong support", + "Hold the smooth gray kitchenpot firmly and move upward.", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Hold the metal kitchenpot with both arms", + "Use both arms to raise the medium kitchenpot made of metal", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Take hold of the medium-sized kitchenpot and lift up", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Grab the smooth gray kitchenpot and lift together", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Grab the metal kitchenpot and lift it up", + "Raise the kitchenpot with smooth exterior together using arms", + "Lift the round kitchenpot with handles up using your arms", + "Lift the smooth gray kitchenpot up together" + ], + "unseen": [ + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode45.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..d15126072fe1ee12471b90da48e4d55eedbc8026 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Lift the cylindrical kitchenpot upward with both arms", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Raise the cylindrical kitchenpot steadily using arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Raise the kitchenpot for boiling and cooking using both arms", + "Hold the kitchenpot for boiling and cooking with both arms", + "Lift the round kitchenpot with handles upward and hold it", + "Raise the smooth gray kitchenpot together with arms", + "Raise the smooth gray kitchenpot securely with arms", + "Raise the cylindrical kitchenpot with strong support", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Lift the medium kitchenpot made of metal steadily with support", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Use both arms to raise the cylindrical kitchenpot.", + "Support the gray kitchenpot and raise it upward", + "Lift the medium-sized kitchenpot steadily using arms", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Hold and raise the dark gray stove kitchenpot together", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Lift the dark gray stove kitchenpot upwards with care", + "Both arms lift the medium kitchenpot made of metal upright", + "Lift the metal kitchenpot using both arms now.", + "Secure the medium kitchenpot made of metal and lift it up", + "Grab the gray kitchenpot using both arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "Bring the kitchenpot with smooth exterior upwards together", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Grab the kitchenpot for boiling and cooking and lift together", + "Use both arms to raise the smooth gray kitchenpot", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the smooth gray kitchenpot and lift upward", + "Raise the gray kitchenpot together using arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Bring the metal kitchenpot up together", + "Lift the gray cylindrical metal kitchenpot up together", + "Take hold of the smooth gray kitchenpot and lift up", + "Carry the dark gray stove kitchenpot securely using arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Grab the kitchenpot with smooth exterior and lift it up", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Lift the medium-sized kitchenpot up using your arms", + "Securely lift the medium-sized kitchenpot together", + "Hold the cylindrical kitchenpot firmly with arms", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Lift the gray kitchenpot upward with both arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Raise the cylindrical kitchenpot steadily using arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Grasp the cylindrical kitchenpot and elevate together.", + "Raise the metal kitchenpot using both arms", + "Hold the medium kitchenpot made of metal with both arms", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Raise the kitchenpot for boiling and cooking together with arms", + "Raise the cooking kitchenpot with side grips securely with arms", + "Raise the metal kitchenpot with strong support", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Grab the round kitchenpot with handles and lift it upwards", + "Lift the cylindrical kitchenpot steadily with support", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Use both arms to raise the gray kitchenpot.", + "Support the gray kitchenpot and raise it upward", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Both arms lift the dark gray stove kitchenpot upright", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Secure the cylindrical kitchenpot and lift it up", + "Grab the gray kitchenpot using both arms", + "Pick up the medium-sized kitchenpot with both arms", + "Bring the medium kitchenpot made of metal upwards together", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Grab the dark gray stove kitchenpot and lift together", + "Use both arms to raise the smooth gray kitchenpot", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Use arms to lift the gray kitchenpot upward", + "Hold the kitchenpot with smooth exterior and lift upward", + "Raise the cooking kitchenpot with side grips together using arms", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Bring the medium-sized kitchenpot up together", + "Lift the gray kitchenpot up together", + "Take hold of the dark gray stove kitchenpot and lift up", + "Carry the dark gray stove kitchenpot securely using arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Grab the cylindrical kitchenpot and lift it up", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Hold the metal kitchenpot firmly, then lift.", + "Lift the medium-sized kitchenpot up using your arms", + "Securely lift the cooking kitchenpot with side grips together", + "Hold the metal kitchenpot firmly with arms" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode46.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..08f8391156efc8a11a2d6bf945dc24e36b0dc008 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the cylindrical kitchenpot upwards with care", + "Raise the smooth gray kitchenpot steadily using arms", + "Lift the metal kitchenpot up using your arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Bring the medium-sized kitchenpot up together", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Hold the kitchenpot with smooth exterior and lift upward", + "Lift the medium kitchenpot made of metal carefully using arms", + "Lift the round kitchenpot with handles steadily using arms", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Use arms to lift the cylindrical kitchenpot upward", + "Raise the cooking kitchenpot with side grips with strong support", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Grab the cylindrical kitchenpot and lift it upwards", + "Securely lift the dark gray stove kitchenpot together", + "Hold and raise the smooth gray kitchenpot together", + "Raise the medium-sized kitchenpot upward with both hands", + "Lift the medium-sized kitchenpot steadily with support", + "Grip the smooth gray kitchenpot firmly and lift", + "Use both arms to raise the cylindrical kitchenpot", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Hold the dark gray stove kitchenpot firmly with arms", + "Lift the kitchenpot with smooth exterior up together", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Hold and raise the medium-sized kitchenpot together", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Raise the dark gray stove kitchenpot using both arms", + "Hold the kitchenpot for boiling and cooking with both arms", + "Raise the round kitchenpot with handles together with arms", + "Support the medium-sized kitchenpot and raise it upward", + "Raise the metal kitchenpot evenly with arms", + "Secure the dark gray stove kitchenpot and lift it up", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Use both arms to raise the round kitchenpot with handles.", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "With arms, raise the metal kitchenpot upward slowly.", + "Lift the medium-sized kitchenpot using both arms now.", + "Bring the dark gray stove kitchenpot upwards together", + "Grab the kitchenpot for boiling and cooking using both arms", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Raise the cylindrical kitchenpot securely with arms", + "Lift the smooth gray kitchenpot upward with both arms", + "Grab the medium-sized kitchenpot and lift together", + "Pick up the round kitchenpot with handles with both arms", + "Both arms lift the cooking kitchenpot with side grips upright", + "Raise and hold the cooking kitchenpot with side grips together", + "Lift the medium-sized kitchenpot upwards with care", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Lift the cooking kitchenpot with side grips up using your arms", + "Grab the kitchenpot with smooth exterior and lift it up", + "Bring the cylindrical kitchenpot up together", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Hold the gray kitchenpot and lift upward", + "Lift the smooth gray kitchenpot carefully using arms", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Hold the metal kitchenpot firmly, then lift.", + "Use arms to lift the medium-sized kitchenpot upward", + "Raise the medium-sized kitchenpot with strong support", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Securely lift the gray kitchenpot together", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Lift the medium-sized kitchenpot steadily with support", + "Grip the round kitchenpot with handles firmly and lift", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Carry the kitchenpot with smooth exterior securely using arms", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Lift the gray cylindrical metal kitchenpot up together", + "Secure the smooth gray kitchenpot and lift upward.", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Hold and raise the medium-sized kitchenpot together", + "Pick up the medium-sized kitchenpot with careful lifting", + "Raise the medium-sized kitchenpot using both arms", + "Hold the round kitchenpot with handles with both arms", + "Raise the gray kitchenpot together with arms", + "Support the cooking kitchenpot with side grips and raise it upward", + "Raise the smooth gray kitchenpot evenly with arms", + "Secure the gray kitchenpot and lift it up", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Raise the round kitchenpot with handles together using arms", + "Take hold of the medium kitchenpot made of metal and lift up", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Place hands on the metal kitchenpot, then lift.", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Bring the medium-sized kitchenpot upwards together", + "Grab the medium kitchenpot made of metal using both arms", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Raise the medium kitchenpot made of metal securely with arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Grab the round kitchenpot with handles and lift together", + "Pick up the medium-sized kitchenpot with both arms", + "Both arms lift the smooth gray kitchenpot upright", + "Raise and hold the medium kitchenpot made of metal together" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode47.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..97f00a026f2a8b7338626ea75120552ed0fbb308 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the cooking kitchenpot with side grips upwards with care", + "Raise the metal kitchenpot with strong support", + "Hold the metal kitchenpot firmly and move upward.", + "Lift the gray kitchenpot carefully using arms", + "Grab the medium-sized kitchenpot and lift it upwards", + "Raise and hold the cooking kitchenpot with side grips together", + "Grab the kitchenpot with smooth exterior and lift it up", + "Raise the dark gray stove kitchenpot evenly with arms", + "Grab the smooth gray kitchenpot using both arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Bring the cylindrical kitchenpot up together", + "Raise the smooth gray kitchenpot together with arms", + "Grab the smooth gray kitchenpot and lift together", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Both arms lift the kitchenpot for boiling and cooking upright", + "With arms, raise the metal kitchenpot upward slowly.", + "Place hands on the metal kitchenpot, then lift.", + "Lift the smooth gray kitchenpot up together", + "Hold the dark gray stove kitchenpot firmly with arms", + "Securely lift the dark gray stove kitchenpot together", + "Pick up the kitchenpot with smooth exterior with both arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Lift the medium kitchenpot made of metal upward with both arms", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Support the round kitchenpot with handles and raise it upward", + "Hold the round kitchenpot with handles and lift upward", + "Use arms to lift the smooth gray kitchenpot upward", + "Hold the smooth gray kitchenpot firmly and lift it", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Grip the metal kitchenpot firmly and lift", + "Raise the gray kitchenpot securely with arms", + "Lift the smooth gray kitchenpot upward and hold it", + "Lift the gray kitchenpot using both arms now.", + "Use both arms to raise the medium kitchenpot made of metal.", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Lift the cylindrical kitchenpot up using your arms", + "Bring the smooth gray kitchenpot upwards together", + "Use both arms to raise the kitchenpot with smooth exterior", + "Hold and raise the cylindrical kitchenpot together", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Raise the cooking kitchenpot with side grips together using arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Raise the medium-sized kitchenpot steadily using arms", + "Lift the dark gray stove kitchenpot steadily with support", + "Hold and raise the cooking kitchenpot with side grips together", + "Hold the cylindrical kitchenpot with both arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Raise the round kitchenpot with handles using both arms", + "Lift the dark gray stove kitchenpot upwards with care", + "Raise the round kitchenpot with handles with strong support", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Raise and hold the smooth gray kitchenpot together", + "Grab the medium-sized kitchenpot and lift it up", + "Raise the medium kitchenpot made of metal evenly with arms", + "Grab the medium-sized kitchenpot using both arms", + "Secure the metal kitchenpot and lift upward.", + "Bring the dark gray stove kitchenpot up together", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Grab the round kitchenpot with handles and lift together", + "Pick up the smooth gray kitchenpot with careful lifting", + "Both arms lift the medium kitchenpot made of metal upright", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Lift the kitchenpot with smooth exterior up together", + "Hold the gray kitchenpot firmly with arms", + "Securely lift the gray kitchenpot together", + "Pick up the smooth gray kitchenpot with both arms", + "Grasp the medium-sized kitchenpot and elevate together.", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Lift the round kitchenpot with handles upward with both arms", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Support the cylindrical kitchenpot and raise it upward", + "Hold the gray kitchenpot and lift upward", + "Use arms to lift the round kitchenpot with handles upward", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Take hold of the metal kitchenpot and lift up", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Raise the medium-sized kitchenpot securely with arms", + "Lift the metal kitchenpot upward and hold it", + "Lift the round kitchenpot with handles using both arms now.", + "Use both arms to raise the medium kitchenpot made of metal.", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Lift the medium-sized kitchenpot up using your arms", + "Bring the metal kitchenpot upwards together", + "Use both arms to raise the medium-sized kitchenpot", + "Hold and raise the medium kitchenpot made of metal together", + "Carry the dark gray stove kitchenpot securely using arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Raise the cylindrical kitchenpot together using arms", + "Secure the round kitchenpot with handles and lift it up", + "Raise the cylindrical kitchenpot steadily using arms", + "Lift the dark gray stove kitchenpot steadily with support", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Hold the dark gray stove kitchenpot with both arms", + "Hold the metal kitchenpot firmly, then lift.", + "Raise the kitchenpot with smooth exterior using both arms" + ], + "unseen": [ + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode48.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..81d0984c77eacdd361df9a0187adfecc5cd59dbf --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the gray cylindrical metal kitchenpot using both arms", + "Hold and raise the dark gray stove kitchenpot together", + "Hold the medium kitchenpot made of metal and lift upward", + "Bring the round kitchenpot with handles up together", + "Bring the cooking kitchenpot with side grips upwards together", + "Lift the dark gray stove kitchenpot steadily using arms", + "Raise the cooking kitchenpot with side grips using both arms", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Secure the metal kitchenpot and lift it up", + "Grab the smooth gray kitchenpot and lift it up", + "Place hands on the metal kitchenpot, then lift.", + "Raise the cylindrical kitchenpot steadily using arms", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Hold the metal kitchenpot firmly and lift it", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Lift the kitchenpot with smooth exterior up together", + "Use arms to lift the dark gray stove kitchenpot upward", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Hold and raise the dark gray stove kitchenpot together", + "Lift the kitchenpot with smooth exterior upwards with care", + "Carry the kitchenpot with smooth exterior securely using arms", + "Grab the cylindrical kitchenpot and lift together", + "Raise the kitchenpot for boiling and cooking with strong support", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Pick up the smooth gray kitchenpot with both arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Support the cylindrical kitchenpot and raise it upward", + "Secure the medium-sized kitchenpot and lift upward.", + "Hold the round kitchenpot with handles with both arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Use both arms to raise the dark gray stove kitchenpot", + "Hold the round kitchenpot with handles firmly, then lift.", + "Raise the kitchenpot with smooth exterior securely with arms", + "Lift the smooth gray kitchenpot using both arms now.", + "Raise the cooking kitchenpot with side grips together using arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Use both arms to raise the metal kitchenpot.", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Raise and hold the medium-sized kitchenpot together", + "Both arms lift the cooking kitchenpot with side grips upright", + "Lift the medium kitchenpot made of metal up using your arms", + "Hold the metal kitchenpot firmly with arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Pick up the gray kitchenpot with careful lifting", + "Securely lift the smooth gray kitchenpot together", + "With arms, raise the gray kitchenpot upward slowly.", + "Raise the medium-sized kitchenpot upward with both hands", + "Lift the metal kitchenpot steadily with support", + "Raise the gray kitchenpot together with arms", + "Grab the cooking kitchenpot with side grips using both arms", + "Hold and raise the metal kitchenpot together", + "Hold the gray kitchenpot and lift upward", + "Bring the medium-sized kitchenpot up together", + "Bring the kitchenpot with smooth exterior upwards together", + "Lift the medium kitchenpot made of metal steadily using arms", + "Raise the gray kitchenpot using both arms", + "Lift the round kitchenpot with handles carefully using both arms.", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Secure the medium-sized kitchenpot and lift it up", + "Grab the gray kitchenpot and lift it up", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Raise the smooth gray kitchenpot steadily using arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Lift the round kitchenpot with handles up together", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the round kitchenpot with handles firmly and move upward.", + "Hold and raise the cylindrical kitchenpot together", + "Lift the cooking kitchenpot with side grips upwards with care", + "Carry the gray kitchenpot securely using arms", + "Grab the medium kitchenpot made of metal and lift together", + "Raise the gray kitchenpot with strong support", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Pick up the round kitchenpot with handles with both arms", + "Raise the smooth gray kitchenpot evenly with arms", + "Support the smooth gray kitchenpot and raise it upward", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Grip the metal kitchenpot firmly and lift", + "Use both arms to raise the kitchenpot with smooth exterior", + "Hold the gray kitchenpot firmly, then lift.", + "Raise the round kitchenpot with handles securely with arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Raise the cylindrical kitchenpot together using arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Use both arms to raise the smooth gray kitchenpot.", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Raise and hold the metal kitchenpot together", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Lift the medium-sized kitchenpot up using your arms", + "Hold the dark gray stove kitchenpot firmly with arms", + "Lift the round kitchenpot with handles upward and hold it", + "Pick up the round kitchenpot with handles with careful lifting", + "Securely lift the kitchenpot with smooth exterior together", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Raise the medium kitchenpot made of metal upward with both hands", + "Lift the gray kitchenpot steadily with support", + "Raise the gray cylindrical metal kitchenpot together with arms" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode49.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..793903c38d5f04dd9e284d3f0f319dac20b0c8bd --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and raise the kitchenpot with smooth exterior together", + "Pick up the cooking kitchenpot with side grips with both arms", + "Secure the gray kitchenpot and lift it up", + "Raise the cylindrical kitchenpot together with arms", + "Raise the round kitchenpot with handles securely with arms", + "Lift the smooth gray kitchenpot carefully using arms", + "Grip the medium-sized kitchenpot firmly and lift", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Raise the smooth gray kitchenpot with strong support", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Hold the metal kitchenpot firmly, then lift.", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Lift the round kitchenpot with handles upwards with care", + "Lift the round kitchenpot with handles carefully using both arms.", + "Grab the cooking kitchenpot with side grips and lift it up", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Bring the gray kitchenpot up together", + "Grab the medium-sized kitchenpot and lift together", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Lift the medium kitchenpot made of metal steadily using arms", + "Hold the dark gray stove kitchenpot and lift upward", + "Grab the round kitchenpot with handles using both arms", + "Lift the gray kitchenpot using both arms now.", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Lift the metal kitchenpot up together", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Securely lift the cooking kitchenpot with side grips together", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Place hands on the cylindrical kitchenpot, then lift.", + "Lift the cylindrical kitchenpot up using your arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Raise the medium-sized kitchenpot using both arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Use both arms to raise the medium kitchenpot made of metal.", + "Support the round kitchenpot with handles and raise it upward", + "Bring the gray kitchenpot upwards together", + "Engage arms to grip and lift the metal kitchenpot.", + "Pick up the gray kitchenpot with careful lifting", + "Hold the medium-sized kitchenpot with both arms", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Raise and hold the medium kitchenpot made of metal together", + "Both arms lift the dark gray stove kitchenpot upright", + "Hold and raise the medium-sized kitchenpot together", + "Raise the medium kitchenpot made of metal together using arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Lift the metal kitchenpot upward and hold it", + "Hold and raise the medium-sized kitchenpot together", + "Pick up the medium kitchenpot made of metal with both arms", + "Secure the cylindrical kitchenpot and lift it up", + "Raise the metal kitchenpot together with arms", + "Raise the dark gray stove kitchenpot securely with arms", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Grip the gray kitchenpot firmly and lift", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Raise the metal kitchenpot with strong support", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Carry the round kitchenpot with handles securely using arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Grab the round kitchenpot with handles and lift it up", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Lift the medium kitchenpot made of metal upward with both arms", + "Bring the metal kitchenpot up together", + "Grab the cooking kitchenpot with side grips and lift together", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Hold the dark gray stove kitchenpot and lift upward", + "Grab the kitchenpot for boiling and cooking using both arms", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Hold the round kitchenpot with handles firmly with arms", + "Lift the medium-sized kitchenpot up together", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Grasp the cylindrical kitchenpot and elevate together.", + "Securely lift the smooth gray kitchenpot together", + "Secure the metal kitchenpot and lift upward.", + "Place hands on the medium-sized kitchenpot, then lift.", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Lift the metal kitchenpot steadily with support", + "Raise the cooking kitchenpot with side grips using both arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "Hold the metal kitchenpot firmly and lift it", + "Use both arms to raise the metal kitchenpot.", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Bring the cooking kitchenpot with side grips upwards together", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Pick up the round kitchenpot with handles with careful lifting", + "Hold the round kitchenpot with handles with both arms", + "Raise the round kitchenpot with handles steadily using arms", + "Raise and hold the dark gray stove kitchenpot together", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Hold and raise the gray kitchenpot together", + "Raise the medium kitchenpot made of metal together using arms", + "Grab the metal kitchenpot and lift it upwards", + "Lift the smooth gray kitchenpot upward and hold it" + ], + "unseen": [ + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode5.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..e9dc71f24ae6b467b33e624665e85c65b6654738 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark gray stove kitchenpot steadily using arms", + "Take hold of the dark gray stove kitchenpot and lift up", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Use arms to lift the gray kitchenpot upward", + "Both arms lift the medium kitchenpot made of metal upright", + "Place hands on the smooth gray kitchenpot, then lift.", + "Grab the dark gray stove kitchenpot and lift together", + "Grab the medium kitchenpot made of metal and lift it up", + "Use both arms to raise the cylindrical kitchenpot", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Lift the kitchenpot for boiling and cooking up together", + "Secure the metal kitchenpot and lift it up", + "With arms, raise the gray kitchenpot upward slowly.", + "Hold the dark gray stove kitchenpot firmly with arms", + "Use both arms to raise the medium kitchenpot made of metal.", + "Raise the cooking kitchenpot with side grips together using arms", + "Hold and raise the gray kitchenpot together", + "Raise the smooth gray kitchenpot securely with arms", + "Bring the dark gray stove kitchenpot upwards together", + "Lift the kitchenpot with smooth exterior up using your arms", + "Raise and hold the dark gray stove kitchenpot together", + "Raise the cylindrical kitchenpot evenly with arms", + "Raise the kitchenpot for boiling and cooking with strong support", + "Lift the kitchenpot with smooth exterior steadily with support", + "Raise the dark gray stove kitchenpot upward with both hands", + "Hold the cooking kitchenpot with side grips and lift upward", + "Raise the kitchenpot with smooth exterior using both arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Carry the metal kitchenpot securely using arms", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Lift the round kitchenpot with handles upward with both arms", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Raise the medium-sized kitchenpot steadily using arms", + "Raise the round kitchenpot with handles together with arms", + "Lift the round kitchenpot with handles using both arms now.", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Lift the medium-sized kitchenpot upwards with care", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Secure the metal kitchenpot and lift upward.", + "Grab the kitchenpot with smooth exterior using both arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Securely lift the cooking kitchenpot with side grips together", + "Support the smooth gray kitchenpot and raise it upward", + "Hold and raise the kitchenpot for boiling and cooking together", + "Bring the kitchenpot with smooth exterior up together", + "Hold the kitchenpot with smooth exterior with both arms", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Lift the cylindrical kitchenpot upward and hold it", + "Lift the smooth gray kitchenpot steadily using arms", + "Take hold of the metal kitchenpot and lift up", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Use arms to lift the cylindrical kitchenpot upward", + "Both arms lift the metal kitchenpot upright", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Grab the gray kitchenpot and lift together", + "Grab the cylindrical kitchenpot and lift it up", + "Use both arms to raise the medium kitchenpot made of metal", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Lift the gray kitchenpot up together", + "Secure the gray kitchenpot and lift it up", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Use both arms to raise the round kitchenpot with handles.", + "Raise the kitchenpot for boiling and cooking together using arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the cylindrical kitchenpot securely with arms", + "Bring the smooth gray kitchenpot upwards together", + "Lift the kitchenpot with smooth exterior up using your arms", + "Raise and hold the cooking kitchenpot with side grips together", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Raise the medium-sized kitchenpot with strong support", + "Lift the round kitchenpot with handles steadily with support", + "Raise the gray kitchenpot upward with both hands", + "Hold the dark gray stove kitchenpot and lift upward", + "Raise the dark gray stove kitchenpot using both arms", + "Grip the dark gray stove kitchenpot firmly and lift", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Lift the gray kitchenpot upward with both arms", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Raise the smooth gray kitchenpot steadily using arms", + "Raise the round kitchenpot with handles together with arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Lift the smooth gray kitchenpot upwards with care", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Secure the metal kitchenpot and lift upward.", + "Grab the medium-sized kitchenpot using both arms", + "Grab the round kitchenpot with handles and lift it upwards", + "Lift the cylindrical kitchenpot carefully using arms", + "Securely lift the gray kitchenpot together", + "Support the medium-sized kitchenpot and raise it upward", + "Hold and raise the metal kitchenpot together", + "Bring the round kitchenpot with handles up together", + "Hold the smooth gray kitchenpot with both arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Lift the kitchenpot for boiling and cooking upward and hold it" + ], + "unseen": [ + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode6.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..9cf7d82ff114e926a3404515fce1a0b1b2e7aefb --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the metal kitchenpot together using arms", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Raise the kitchenpot with smooth exterior together with arms", + "Bring the gray kitchenpot up together", + "Secure the medium kitchenpot made of metal and lift it up", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Use both arms to raise the gray kitchenpot.", + "Raise the smooth gray kitchenpot using both arms", + "Lift the dark gray stove kitchenpot upwards with care", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Use both arms to raise the cylindrical kitchenpot", + "Raise and hold the dark gray stove kitchenpot together", + "Both arms lift the gray kitchenpot upright", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Bring the kitchenpot with smooth exterior upwards together", + "Pick up the kitchenpot with smooth exterior with both arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Take hold of the smooth gray kitchenpot and lift up", + "Lift the smooth gray kitchenpot steadily with support", + "Lift the gray kitchenpot up using your arms", + "Grab the medium-sized kitchenpot using both arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Grab the cylindrical kitchenpot and lift it up", + "Securely lift the medium-sized kitchenpot together", + "Raise the metal kitchenpot with strong support", + "Lift the medium-sized kitchenpot steadily using arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Hold and raise the gray kitchenpot together", + "Lift the gray kitchenpot up together", + "Carry the gray kitchenpot securely using arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Grip the medium kitchenpot made of metal firmly and lift", + "Place hands on the cylindrical kitchenpot, then lift.", + "Hold the medium kitchenpot made of metal and lift upward", + "Hold the gray kitchenpot with both arms", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Use arms to lift the round kitchenpot with handles upward", + "Raise the medium kitchenpot made of metal securely with arms", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Hold the medium-sized kitchenpot firmly and lift it", + "Hold and raise the cylindrical kitchenpot together", + "Lift the medium kitchenpot made of metal carefully using arms", + "Grab the cylindrical kitchenpot and lift together", + "Raise the medium kitchenpot made of metal together using arms", + "Support the smooth gray kitchenpot and raise it upward", + "Raise the metal kitchenpot together with arms", + "Bring the metal kitchenpot up together", + "Secure the metal kitchenpot and lift it up", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Use both arms to raise the dark gray stove kitchenpot.", + "Raise the cylindrical kitchenpot using both arms", + "Lift the dark gray stove kitchenpot upwards with care", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Raise and hold the kitchenpot for boiling and cooking together", + "Both arms lift the metal kitchenpot upright", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Pick up the cylindrical kitchenpot with both arms", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Lift the kitchenpot with smooth exterior up using your arms", + "Grab the kitchenpot for boiling and cooking using both arms", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Grab the medium kitchenpot made of metal and lift it up", + "Securely lift the round kitchenpot with handles together", + "Raise the medium kitchenpot made of metal with strong support", + "Lift the cylindrical kitchenpot steadily using arms", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Raise the metal kitchenpot evenly with arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Grasp the cylindrical kitchenpot and elevate together.", + "Hold the round kitchenpot with handles firmly and move upward.", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the gray kitchenpot up together", + "Carry the metal kitchenpot securely using arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Hold the metal kitchenpot and lift upward", + "Hold the cooking kitchenpot with side grips with both arms", + "Hold the round kitchenpot with handles firmly with arms", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Raise the smooth gray kitchenpot securely with arms", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Hold the medium-sized kitchenpot firmly and lift it", + "Hold and raise the medium-sized kitchenpot together", + "Lift the metal kitchenpot carefully using arms", + "Grab the smooth gray kitchenpot and lift together" + ], + "unseen": [ + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode7.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..7a298c867f0f49a18c9f9e65884f4afed9967d3b --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use both arms to raise the cylindrical kitchenpot.", + "Hold and raise the round kitchenpot with handles together", + "Lift the smooth gray kitchenpot carefully using arms", + "Lift the smooth gray kitchenpot steadily using arms", + "Lift the cooking kitchenpot with side grips up together", + "Lift the cooking kitchenpot with side grips up using your arms", + "Bring the medium kitchenpot made of metal up together", + "Grab the cylindrical kitchenpot using both arms", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Securely lift the cooking kitchenpot with side grips together", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Lift the smooth gray kitchenpot upward with both arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Grab the smooth gray kitchenpot and lift it upwards", + "Take hold of the cylindrical kitchenpot and lift up", + "Raise the medium-sized kitchenpot together using arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Hold the medium kitchenpot made of metal firmly with arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Raise the medium kitchenpot made of metal together with arms", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Lift the cylindrical kitchenpot upwards with care", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Hold the round kitchenpot with handles with both arms", + "Grip the medium-sized kitchenpot firmly and lift", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Hold the kitchenpot with smooth exterior and lift upward", + "Place hands on the smooth gray kitchenpot, then lift.", + "Secure the metal kitchenpot and lift it up", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Lift the smooth gray kitchenpot steadily with support", + "Hold the metal kitchenpot firmly and move upward.", + "Both arms lift the round kitchenpot with handles upright", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Pick up the metal kitchenpot with both arms", + "Support the gray kitchenpot and raise it upward", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Grasp the round kitchenpot with handles and elevate together.", + "Hold and raise the metal kitchenpot together", + "Raise the smooth gray kitchenpot securely with arms", + "Lift the metal kitchenpot carefully using both arms.", + "Engage arms to grip and lift the metal kitchenpot.", + "Use both arms to raise the cylindrical kitchenpot", + "Raise the metal kitchenpot evenly with arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Carry the kitchenpot with smooth exterior securely using arms", + "Grab the cooking kitchenpot with side grips and lift it up", + "Grab the metal kitchenpot and lift together", + "Raise and hold the metal kitchenpot together", + "Use both arms to raise the medium-sized kitchenpot.", + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the gray kitchenpot carefully using arms", + "Lift the smooth gray kitchenpot steadily using arms", + "Lift the medium-sized kitchenpot up together", + "Lift the medium kitchenpot made of metal up using your arms", + "Bring the metal kitchenpot up together", + "Grab the medium-sized kitchenpot using both arms", + "Secure the medium-sized kitchenpot and lift upward.", + "Securely lift the cylindrical kitchenpot together", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Lift the dark gray stove kitchenpot upward with both arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Take hold of the medium-sized kitchenpot and lift up", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Raise the medium kitchenpot made of metal together with arms", + "Use arms to lift the gray kitchenpot upward", + "Lift the cylindrical kitchenpot upwards with care", + "Bring the smooth gray kitchenpot upwards together", + "Hold the medium kitchenpot made of metal with both arms", + "Grip the dark gray stove kitchenpot firmly and lift", + "Raise the gray kitchenpot using both arms", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Hold the cooking kitchenpot with side grips and lift upward", + "Place hands on the smooth gray kitchenpot, then lift.", + "Secure the medium kitchenpot made of metal and lift it up", + "Raise the smooth gray kitchenpot steadily using arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Hold the gray kitchenpot firmly and move upward.", + "Both arms lift the cylindrical kitchenpot upright", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Support the medium-sized kitchenpot and raise it upward", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Hold and raise the cylindrical kitchenpot together", + "Raise the medium-sized kitchenpot securely with arms", + "Lift the gray kitchenpot carefully using both arms.", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Use both arms to raise the kitchenpot with smooth exterior", + "Raise the gray kitchenpot evenly with arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Carry the medium kitchenpot made of metal securely using arms", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Grab the round kitchenpot with handles and lift together", + "Raise and hold the medium kitchenpot made of metal together" + ], + "unseen": [ + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode8.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..0fcbcc32e05e3147f63ecf285e5a985cd35f2fa7 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the dark gray stove kitchenpot firmly and lift", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Hold the smooth gray kitchenpot with both arms", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Place hands on the metal kitchenpot, then lift.", + "Raise the medium-sized kitchenpot using both arms", + "Lift the kitchenpot with smooth exterior up together", + "Bring the round kitchenpot with handles up together", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Lift the kitchenpot with smooth exterior upwards with care", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Secure the cylindrical kitchenpot and lift upward.", + "Raise the metal kitchenpot upward with both hands", + "Pick up the smooth gray kitchenpot with careful lifting", + "Both arms lift the metal kitchenpot upright", + "Lift the medium-sized kitchenpot using both arms now.", + "Take hold of the metal kitchenpot and lift up", + "Raise the cooking kitchenpot with side grips together using arms", + "Support the gray kitchenpot and raise it upward", + "Pick up the metal kitchenpot with both arms", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Use both arms to raise the gray kitchenpot.", + "Bring the medium kitchenpot made of metal upwards together", + "Lift the medium kitchenpot made of metal upward with both arms", + "Hold the medium-sized kitchenpot and lift upward", + "Lift the dark gray stove kitchenpot steadily using arms", + "Hold and raise the round kitchenpot with handles together", + "Secure the medium-sized kitchenpot and lift it up", + "Hold and raise the medium-sized kitchenpot together", + "Raise the metal kitchenpot with strong support", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Grab the dark gray stove kitchenpot using both arms", + "Grab the dark gray stove kitchenpot and lift together", + "Grab the cylindrical kitchenpot and lift it up", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Raise and hold the gray kitchenpot together", + "Raise the cooking kitchenpot with side grips together with arms", + "Carry the medium-sized kitchenpot securely using arms", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Securely lift the gray cylindrical metal kitchenpot together", + "Hold the metal kitchenpot firmly and lift it", + "Lift the smooth gray kitchenpot up using your arms", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Grip the dark gray stove kitchenpot firmly and lift", + "Raise the gray kitchenpot steadily using arms", + "Hold the dark gray stove kitchenpot with both arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Place hands on the gray kitchenpot, then lift.", + "Raise the cylindrical kitchenpot using both arms", + "Lift the gray kitchenpot up together", + "Bring the gray kitchenpot up together", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Raise the medium-sized kitchenpot evenly with arms", + "Lift the dark gray stove kitchenpot steadily with support", + "Use both arms to raise the smooth gray kitchenpot", + "Grab the smooth gray kitchenpot and lift it upwards", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Raise the cylindrical kitchenpot upward with both hands", + "Pick up the gray kitchenpot with careful lifting", + "Both arms lift the kitchenpot with smooth exterior upright", + "Lift the gray kitchenpot using both arms now.", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Support the metal kitchenpot and raise it upward", + "Pick up the smooth gray kitchenpot with both arms", + "Raise the smooth gray kitchenpot securely with arms", + "Lift the metal kitchenpot upward and hold it", + "Grasp the cylindrical kitchenpot and elevate together.", + "Use both arms to raise the smooth gray kitchenpot.", + "Bring the gray kitchenpot upwards together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Secure the cylindrical kitchenpot and lift it up", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the cylindrical kitchenpot with strong support", + "Use arms to lift the medium-sized kitchenpot upward", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Grab the gray kitchenpot and lift together", + "Grab the dark gray stove kitchenpot and lift it up", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Raise and hold the kitchenpot with smooth exterior together", + "Raise the cylindrical kitchenpot together with arms", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the round kitchenpot with handles carefully using both arms.", + "Securely lift the gray cylindrical metal kitchenpot together", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Lift the round kitchenpot with handles up using your arms", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Hold the gray kitchenpot firmly with arms" + ], + "unseen": [ + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode9.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..bfd3b66ae5cd5e13e2269c21bda9391370228801 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium-sized kitchenpot and lift together", + "Hold the metal kitchenpot with both arms", + "Raise the medium kitchenpot made of metal with strong support", + "Take hold of the round kitchenpot with handles and lift up", + "Raise the cooking kitchenpot with side grips securely with arms", + "Lift the cylindrical kitchenpot steadily using arms", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Bring the kitchenpot with smooth exterior upwards together", + "Hold the gray kitchenpot firmly and lift it", + "Support the round kitchenpot with handles and raise it upward", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Use both arms to raise the metal kitchenpot", + "Grip the round kitchenpot with handles firmly and lift", + "Lift the smooth gray kitchenpot using both arms now.", + "Lift the cylindrical kitchenpot steadily with support", + "Secure the smooth gray kitchenpot and lift upward.", + "Secure the medium-sized kitchenpot and lift it up", + "Both arms lift the metal kitchenpot upright", + "Raise the cylindrical kitchenpot together with arms", + "Raise and hold the medium kitchenpot made of metal together", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Lift the gray kitchenpot upward with both arms", + "Grab the dark gray stove kitchenpot using both arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Hold the cylindrical kitchenpot and lift upward", + "Lift the cooking kitchenpot with side grips up using your arms", + "Hold and raise the smooth gray kitchenpot together", + "Hold and raise the medium-sized kitchenpot together", + "Pick up the kitchenpot with smooth exterior with both arms", + "Carry the smooth gray kitchenpot securely using arms", + "Raise the dark gray stove kitchenpot evenly with arms", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Raise the cooking kitchenpot with side grips together using arms", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Use arms to lift the round kitchenpot with handles upward", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Securely lift the dark gray stove kitchenpot together", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Lift the gray kitchenpot up together", + "Raise the smooth gray kitchenpot steadily using arms", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Lift the medium kitchenpot made of metal upward and hold it", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Grasp the round kitchenpot with handles and elevate together.", + "Raise the kitchenpot for boiling and cooking using both arms", + "Bring the kitchenpot for boiling and cooking up together", + "Lift the medium kitchenpot made of metal carefully using arms", + "Lift the round kitchenpot with handles upwards with care", + "Grab the kitchenpot for boiling and cooking and lift together", + "Hold the cylindrical kitchenpot with both arms", + "Raise the gray kitchenpot with strong support", + "Take hold of the round kitchenpot with handles and lift up", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Lift the dark gray stove kitchenpot steadily using arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Bring the gray kitchenpot upwards together", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Support the kitchenpot for boiling and cooking and raise it upward", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Use both arms to raise the smooth gray kitchenpot", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Lift the round kitchenpot with handles using both arms now.", + "Lift the medium kitchenpot made of metal steadily with support", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Secure the medium kitchenpot made of metal and lift it up", + "Both arms lift the dark gray stove kitchenpot upright", + "Raise the round kitchenpot with handles together with arms", + "Raise and hold the kitchenpot with smooth exterior together", + "Place hands on the round kitchenpot with handles, then lift.", + "Lift the dark gray stove kitchenpot upward with both arms", + "Grab the smooth gray kitchenpot using both arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Hold and raise the cooking kitchenpot with side grips together", + "Pick up the metal kitchenpot with both arms", + "Carry the smooth gray kitchenpot securely using arms", + "Raise the smooth gray kitchenpot evenly with arms", + "Grab the cylindrical kitchenpot and lift it up", + "Raise the medium kitchenpot made of metal together using arms", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Hold the cylindrical kitchenpot firmly with arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Securely lift the dark gray stove kitchenpot together", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Lift the medium-sized kitchenpot up together", + "Raise the medium-sized kitchenpot steadily using arms", + "Pick up the gray kitchenpot with careful lifting", + "Lift the round kitchenpot with handles upward and hold it", + "Grab the gray kitchenpot and lift it upwards", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Raise the cooking kitchenpot with side grips using both arms", + "Bring the cylindrical kitchenpot up together", + "Lift the smooth gray kitchenpot carefully using arms", + "Lift the kitchenpot for boiling and cooking upwards with care" + ], + "unseen": [ + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ARX-X5/meta/scene_info.json b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..7226bcdb97754eb17dcbeec680ac552c7d2be64a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ARX-X5/meta/scene_info.json @@ -0,0 +1,502 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "060_kitchenpot/base0" + } + }, + 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0000000000000000000000000000000000000000..7df7bbaf5633aba2682d1f2d3ee01120e3d890e6 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/data/episode9.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec0ff06107f0767d66de7d1486a2caa11768f2719c4c35379855f657c820dcd8 +size 7837133 diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/config.yml b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..8c118a89a92436c78ebf9d967c211d09a08e3ef8 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/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/lift_pot/aloha-agilex/meta/info.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..4d487e3c903f3f7f8e4054858def8833e6c1e177 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/info.json @@ -0,0 +1,67 @@ +{ + "task": "lift_pot", + "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/lift_pot/aloha-agilex/meta/instructions/episode0.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..765a2cc048b602c208bc6a25ebfc3943af14df38 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the gray kitchenpot with both arms", + "Securely lift the dark gray stove kitchenpot together", + "Hold the gray kitchenpot firmly, then lift.", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Grab the kitchenpot with smooth exterior and lift together", + "Support the dark gray stove kitchenpot and raise it upward", + "With arms, raise the gray kitchenpot upward slowly.", + "Grab the cooking kitchenpot with side grips using both arms", + "Lift the gray cylindrical metal kitchenpot up together", + "Hold the kitchenpot with smooth exterior and lift upward", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Both arms lift the dark gray stove kitchenpot upright", + "Hold the gray kitchenpot firmly and move upward.", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Lift the cylindrical kitchenpot up using your arms", + "Pick up the smooth gray kitchenpot with both arms", + "Raise the medium kitchenpot made of metal using both arms", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Grip the round kitchenpot with handles firmly and lift", + "Use both arms to raise the kitchenpot with smooth exterior", + "Secure the metal kitchenpot and lift upward.", + "Raise the dark gray stove kitchenpot upward with both hands", + "Bring the cooking kitchenpot with side grips upwards together", + "Grab the medium kitchenpot made of metal and lift it up", + "Lift the gray kitchenpot steadily with support", + "Lift the medium kitchenpot made of metal upward and hold it", + "Lift the cylindrical kitchenpot carefully using arms", + "Bring the smooth gray kitchenpot up together", + "Carry the gray kitchenpot securely using arms", + "Lift the metal kitchenpot carefully using both arms.", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Engage arms to grip and lift the metal kitchenpot.", + "Hold the round kitchenpot with handles firmly and lift it", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Grab the cylindrical kitchenpot and lift it upwards", + "Hold and raise the medium-sized kitchenpot together", + "Raise the cylindrical kitchenpot together using arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise and hold the cylindrical kitchenpot together", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Raise the kitchenpot for boiling and cooking together with arms", + "Pick up the cylindrical kitchenpot with careful lifting", + "Hold the medium kitchenpot made of metal with both arms", + "Securely lift the gray kitchenpot together", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Lift the medium kitchenpot made of metal steadily using arms", + "Grab the medium kitchenpot made of metal and lift together", + "Support the medium-sized kitchenpot and raise it upward", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Grab the kitchenpot for boiling and cooking using both arms", + "Lift the smooth gray kitchenpot up together", + "Hold the gray kitchenpot and lift upward", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Both arms lift the cylindrical kitchenpot upright", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Use both arms to raise the gray kitchenpot.", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Lift the cooking kitchenpot with side grips up using your arms", + "Pick up the metal kitchenpot with both arms", + "Raise the cylindrical kitchenpot using both arms", + "Raise the medium-sized kitchenpot securely with arms", + "Raise the medium kitchenpot made of metal evenly with arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Use both arms to raise the cooking kitchenpot with side grips", + "Secure the round kitchenpot with handles and lift upward.", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Bring the cooking kitchenpot with side grips upwards together", + "Grab the dark gray stove kitchenpot and lift it up", + "Lift the gray kitchenpot steadily with support", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Lift the cylindrical kitchenpot carefully using arms", + "Bring the metal kitchenpot up together", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the round kitchenpot with handles carefully using both arms.", + "Take hold of the medium-sized kitchenpot and lift up", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the kitchenpot for boiling and cooking together using arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Lift the smooth gray kitchenpot upwards with care", + "Raise the cylindrical kitchenpot with strong support", + "Secure the metal kitchenpot and lift it up", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Raise and hold the round kitchenpot with handles together", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Pick up the cylindrical kitchenpot with careful lifting" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode1.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..50294d958fd3136a0b560872ff9f055f94d10cda --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use both arms to raise the medium kitchenpot made of metal", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Hold the gray kitchenpot and lift upward", + "Lift the metal kitchenpot up using your arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Support the round kitchenpot with handles and raise it upward", + "Lift the smooth gray kitchenpot steadily using arms", + "Bring the cylindrical kitchenpot up together", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Raise and hold the dark gray stove kitchenpot together", + "Hold the smooth gray kitchenpot firmly and lift it", + "Bring the cooking kitchenpot with side grips upwards together", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Raise the cylindrical kitchenpot securely with arms", + "Hold the medium kitchenpot made of metal with both arms", + "Grab the round kitchenpot with handles using both arms", + "Grab the kitchenpot for boiling and cooking and lift together", + "Raise the dark gray stove kitchenpot using both arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Raise the medium-sized kitchenpot upward with both hands", + "Secure the round kitchenpot with handles and lift upward.", + "Raise the smooth gray kitchenpot together with arms", + "Hold the cylindrical kitchenpot firmly with arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Hold and raise the medium-sized kitchenpot together", + "Place hands on the gray kitchenpot, then lift.", + "Both arms lift the metal kitchenpot upright", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Secure the smooth gray kitchenpot and lift it up", + "Pick up the round kitchenpot with handles with both arms", + "Lift the dark gray stove kitchenpot up together", + "Lift the gray kitchenpot carefully using both arms.", + "Raise the round kitchenpot with handles together using arms", + "Use both arms to raise the medium kitchenpot made of metal.", + "Raise the gray kitchenpot with strong support", + "Lift the smooth gray kitchenpot upward and hold it", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Securely lift the gray cylindrical metal kitchenpot together", + "Lift the cylindrical kitchenpot using both arms now.", + "Lift the gray kitchenpot steadily with support", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Hold and raise the metal kitchenpot together", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Use both arms to raise the round kitchenpot with handles", + "Grab the kitchenpot with smooth exterior and lift it up", + "Hold the round kitchenpot with handles and lift upward", + "Lift the cooking kitchenpot with side grips up using your arms", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Support the smooth gray kitchenpot and raise it upward", + "Lift the smooth gray kitchenpot steadily using arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Take hold of the round kitchenpot with handles and lift up", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Lift the dark gray stove kitchenpot upwards with care", + "Hold the gray kitchenpot firmly and move upward.", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Hold the metal kitchenpot firmly and lift it", + "Bring the gray kitchenpot upwards together", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Raise the cooking kitchenpot with side grips securely with arms", + "Hold the smooth gray kitchenpot with both arms", + "Grab the cylindrical kitchenpot using both arms", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Raise the metal kitchenpot using both arms", + "Grip the cylindrical kitchenpot firmly and lift", + "Use arms to lift the round kitchenpot with handles upward", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Raise the medium-sized kitchenpot together with arms", + "Hold the round kitchenpot with handles firmly with arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Place hands on the round kitchenpot with handles, then lift.", + "Both arms lift the kitchenpot with smooth exterior upright", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Secure the medium kitchenpot made of metal and lift it up", + "Pick up the gray kitchenpot with both arms", + "Lift the metal kitchenpot up together", + "Lift the round kitchenpot with handles carefully using both arms.", + "Raise the gray kitchenpot together using arms", + "Use both arms to raise the gray kitchenpot.", + "Raise the cylindrical kitchenpot with strong support", + "Lift the kitchenpot with smooth exterior upward and hold it", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Raise the cylindrical kitchenpot steadily using arms", + "Securely lift the gray kitchenpot together", + "Lift the metal kitchenpot using both arms now.", + "Lift the smooth gray kitchenpot steadily with support", + "Pick up the gray kitchenpot with careful lifting", + "Carry the smooth gray kitchenpot securely using arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Hold and raise the cylindrical kitchenpot together", + "Hold the medium kitchenpot made of metal firmly, then lift." + ], + "unseen": [ + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode10.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..86f4cd4f33541f173e7759af890a314ac4b9ae9a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the kitchenpot with smooth exterior using both arms", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Lift the round kitchenpot with handles upwards with care", + "Bring the smooth gray kitchenpot up together", + "Grab the medium-sized kitchenpot and lift it upwards", + "Secure the medium-sized kitchenpot and lift it up", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Raise the metal kitchenpot with strong support", + "Hold the gray kitchenpot with both arms", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Grab the medium kitchenpot made of metal and lift it up", + "Lift the cylindrical kitchenpot upward and hold it", + "Lift the medium kitchenpot made of metal up using your arms", + "Pick up the medium kitchenpot made of metal with both arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Lift the dark gray stove kitchenpot up together", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Support the smooth gray kitchenpot and raise it upward", + "Carry the cylindrical kitchenpot securely using arms", + "Place hands on the gray kitchenpot, then lift.", + "Hold and raise the dark gray stove kitchenpot together", + "Grab the gray kitchenpot and lift together", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Bring the gray kitchenpot upwards together", + "Use arms to lift the medium kitchenpot made of metal upward", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Use both arms to raise the medium-sized kitchenpot.", + "Hold the medium kitchenpot made of metal and lift upward", + "Lift the medium kitchenpot made of metal steadily using arms", + "Raise the gray kitchenpot securely with arms", + "Lift the gray kitchenpot steadily with support", + "Hold the smooth gray kitchenpot firmly and lift it", + "Raise the cylindrical kitchenpot steadily using arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Raise the round kitchenpot with handles evenly with arms", + "Lift the gray kitchenpot using both arms now.", + "Grip the cylindrical kitchenpot firmly and lift", + "Raise the cooking kitchenpot with side grips together using arms", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Hold the kitchenpot with smooth exterior firmly with arms", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Raise the cylindrical kitchenpot together with arms", + "Raise and hold the cooking kitchenpot with side grips together", + "Raise the medium kitchenpot made of metal upward with both hands", + "Hold and raise the cylindrical kitchenpot together", + "Securely lift the smooth gray kitchenpot together", + "Raise the cooking kitchenpot with side grips using both arms", + "Pick up the cylindrical kitchenpot with careful lifting", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Bring the kitchenpot with smooth exterior up together", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Secure the metal kitchenpot and lift it up", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Raise the cylindrical kitchenpot with strong support", + "Hold the medium kitchenpot made of metal with both arms", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Secure the medium-sized kitchenpot and lift upward.", + "Grab the cylindrical kitchenpot and lift it up", + "Lift the dark gray stove kitchenpot upward and hold it", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Use both arms to raise the round kitchenpot with handles", + "Lift the gray cylindrical metal kitchenpot up together", + "Take hold of the round kitchenpot with handles and lift up", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Hold and raise the metal kitchenpot together", + "Grab the round kitchenpot with handles and lift together", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Grab the kitchenpot with smooth exterior using both arms", + "Use both arms to raise the medium-sized kitchenpot.", + "Hold the kitchenpot with smooth exterior and lift upward", + "Lift the cylindrical kitchenpot steadily using arms", + "Raise the smooth gray kitchenpot securely with arms", + "Lift the cooking kitchenpot with side grips steadily with support", + "Hold the medium-sized kitchenpot firmly and lift it", + "Raise the round kitchenpot with handles steadily using arms", + "Lift the round kitchenpot with handles upward with both arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Lift the round kitchenpot with handles using both arms now.", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Raise the dark gray stove kitchenpot together using arms", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Hold the medium-sized kitchenpot firmly with arms", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Raise the gray kitchenpot together with arms", + "Raise and hold the cylindrical kitchenpot together", + "Raise the round kitchenpot with handles upward with both hands", + "Hold and raise the kitchenpot with smooth exterior together", + "Securely lift the kitchenpot for boiling and cooking together" + ], + "unseen": [ + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode11.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..4f0b08b8554b1d7929829c6c2277bf7b4a6d5ff3 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium-sized kitchenpot firmly with arms", + "Lift the dark gray stove kitchenpot carefully using arms", + "Secure the metal kitchenpot and lift upward.", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Use both arms to raise the kitchenpot with smooth exterior", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Grip the metal kitchenpot firmly and lift", + "Grab the medium-sized kitchenpot and lift together", + "Raise and hold the metal kitchenpot together", + "Hold and raise the gray kitchenpot together", + "Lift the dark gray stove kitchenpot up using your arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Grasp the cylindrical kitchenpot and elevate together.", + "Grab the cooking kitchenpot with side grips and lift it up", + "Lift the medium kitchenpot made of metal upwards with care", + "Raise the medium-sized kitchenpot securely with arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Raise the dark gray stove kitchenpot together using arms", + "Both arms lift the metal kitchenpot upright", + "Engage arms to grip and lift the gray kitchenpot.", + "Use arms to lift the gray kitchenpot upward", + "Use both arms to raise the metal kitchenpot.", + "Raise the dark gray stove kitchenpot evenly with arms", + "Hold the medium kitchenpot made of metal and lift upward", + "Raise the gray kitchenpot together with arms", + "Pick up the gray kitchenpot with careful lifting", + "Lift the gray kitchenpot upward with both arms", + "Lift the kitchenpot with smooth exterior up together", + "Place hands on the round kitchenpot with handles, then lift.", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Bring the smooth gray kitchenpot up together", + "Raise the kitchenpot with smooth exterior using both arms", + "Lift the cylindrical kitchenpot steadily with support", + "Hold and raise the dark gray stove kitchenpot together", + "Grab the metal kitchenpot and lift it upwards", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Lift the cylindrical kitchenpot steadily using arms", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Grab the medium kitchenpot made of metal using both arms", + "Pick up the cylindrical kitchenpot with both arms", + "Securely lift the smooth gray kitchenpot together", + "Raise the gray kitchenpot steadily using arms", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Take hold of the gray kitchenpot and lift up", + "Hold the smooth gray kitchenpot with both arms", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Raise the smooth gray kitchenpot with strong support", + "Support the kitchenpot with smooth exterior and raise it upward", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Lift the metal kitchenpot carefully using arms", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Bring the cylindrical kitchenpot upwards together", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Hold the smooth gray kitchenpot firmly and lift it", + "Grip the medium-sized kitchenpot firmly and lift", + "Grab the cooking kitchenpot with side grips and lift together", + "Raise and hold the dark gray stove kitchenpot together", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the cylindrical kitchenpot up using your arms", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Lift the gray kitchenpot upwards with care", + "Raise the metal kitchenpot securely with arms", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Raise the medium kitchenpot made of metal together using arms", + "Both arms lift the gray kitchenpot upright", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Use arms to lift the round kitchenpot with handles upward", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Raise the gray kitchenpot together with arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Lift the cylindrical kitchenpot upward with both arms", + "Lift the medium-sized kitchenpot up together", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Bring the gray kitchenpot up together", + "Raise the round kitchenpot with handles using both arms", + "Lift the metal kitchenpot steadily with support", + "Hold and raise the medium kitchenpot made of metal together", + "Grab the medium-sized kitchenpot and lift it upwards", + "Raise the medium-sized kitchenpot upward with both hands", + "Lift the medium-sized kitchenpot steadily using arms", + "Secure the smooth gray kitchenpot and lift it up", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Securely lift the metal kitchenpot together", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Carry the kitchenpot with smooth exterior securely using arms", + "Take hold of the dark gray stove kitchenpot and lift up", + "Hold the cooking kitchenpot with side grips with both arms", + "With arms, raise the gray kitchenpot upward slowly.", + "Raise the cooking kitchenpot with side grips with strong support", + "Support the dark gray stove kitchenpot and raise it upward", + "Hold the medium kitchenpot made of metal firmly, then lift." + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode12.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..97a2ec4d5f385cfc2479b6213be71479a8f4acb1 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium kitchenpot made of metal with both arms", + "Lift the round kitchenpot with handles up together", + "Both arms lift the cooking kitchenpot with side grips upright", + "Grab the medium-sized kitchenpot and lift together", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Bring the cylindrical kitchenpot upwards together", + "Raise the smooth gray kitchenpot with strong support", + "Use arms to lift the dark gray stove kitchenpot upward", + "Raise the dark gray stove kitchenpot evenly with arms", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Raise the gray kitchenpot using both arms", + "Hold and raise the round kitchenpot with handles together", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Lift the medium-sized kitchenpot steadily with support", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Raise the round kitchenpot with handles together using arms", + "Use both arms to raise the round kitchenpot with handles", + "Raise the medium-sized kitchenpot upward with both hands", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Grip the smooth gray kitchenpot firmly and lift", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Bring the gray kitchenpot up together", + "Pick up the cylindrical kitchenpot with both arms", + "Lift the round kitchenpot with handles upwards with care", + "Lift the gray kitchenpot upward and hold it", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Lift the medium-sized kitchenpot up using your arms", + "Grab the gray kitchenpot and lift it up", + "Hold the kitchenpot with smooth exterior and lift upward", + "Secure the gray kitchenpot and lift it up", + "Hold and raise the gray kitchenpot together", + "Lift the smooth gray kitchenpot upward with both arms", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Hold the medium-sized kitchenpot firmly with arms", + "Securely lift the medium-sized kitchenpot together", + "Raise the round kitchenpot with handles together with arms", + "Carry the cylindrical kitchenpot securely using arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Lift the gray kitchenpot carefully using both arms.", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Secure the metal kitchenpot and lift upward.", + "Raise the cylindrical kitchenpot securely with arms", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Hold the medium-sized kitchenpot with both arms", + "Lift the gray kitchenpot up together", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Grab the dark gray stove kitchenpot and lift together", + "Hold the gray kitchenpot firmly and move upward.", + "Pick up the medium-sized kitchenpot with careful lifting", + "Bring the medium-sized kitchenpot upwards together", + "Raise the round kitchenpot with handles with strong support", + "Use arms to lift the gray kitchenpot upward", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Support the cooking kitchenpot with side grips and raise it upward", + "Use both arms to raise the round kitchenpot with handles.", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Grab the medium-sized kitchenpot and lift it upwards", + "Raise the kitchenpot for boiling and cooking using both arms", + "Hold and raise the smooth gray kitchenpot together", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Hold the smooth gray kitchenpot firmly and lift it", + "Raise the medium kitchenpot made of metal together using arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Raise the cylindrical kitchenpot upward with both hands", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Grip the round kitchenpot with handles firmly and lift", + "Raise and hold the round kitchenpot with handles together", + "Bring the kitchenpot with smooth exterior up together", + "Pick up the cooking kitchenpot with side grips with both arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Lift the round kitchenpot with handles upward and hold it", + "Place hands on the metal kitchenpot, then lift.", + "Lift the cooking kitchenpot with side grips up using your arms", + "Grab the medium-sized kitchenpot and lift it up", + "Hold the kitchenpot with smooth exterior and lift upward", + "Secure the metal kitchenpot and lift it up", + "Hold and raise the gray kitchenpot together", + "Lift the dark gray stove kitchenpot upward with both arms", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Hold the dark gray stove kitchenpot firmly with arms", + "Securely lift the dark gray stove kitchenpot together", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Carry the kitchenpot with smooth exterior securely using arms", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Engage arms to grip and lift the metal kitchenpot.", + "Secure the gray kitchenpot and lift upward.", + "Raise the medium kitchenpot made of metal securely with arms", + "Lift the metal kitchenpot carefully using arms", + "With arms, raise the metal kitchenpot upward slowly." + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode13.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..d17844689bb7f12f8564983d1807aa92961ff8b7 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the round kitchenpot with handles and lift upward", + "Pick up the round kitchenpot with handles with careful lifting", + "Use both arms to raise the dark gray stove kitchenpot.", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Raise the smooth gray kitchenpot steadily using arms", + "Lift the medium kitchenpot made of metal up using your arms", + "Support the metal kitchenpot and raise it upward", + "Use both arms to raise the kitchenpot with smooth exterior", + "Carry the cooking kitchenpot with side grips securely using arms", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Hold the dark gray stove kitchenpot firmly with arms", + "Place hands on the cylindrical kitchenpot, then lift.", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Raise the kitchenpot with smooth exterior together using arms", + "Hold the metal kitchenpot firmly, then lift.", + "Hold and raise the metal kitchenpot together", + "Raise and hold the dark gray stove kitchenpot together", + "Hold the round kitchenpot with handles with both arms", + "Hold and raise the cylindrical kitchenpot together", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Lift the medium kitchenpot made of metal upward with both arms", + "Raise the medium-sized kitchenpot with strong support", + "Raise the cooking kitchenpot with side grips together with arms", + "Grab the metal kitchenpot and lift it up", + "Use arms to lift the medium-sized kitchenpot upward", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Pick up the cooking kitchenpot with side grips with both arms", + "Take hold of the dark gray stove kitchenpot and lift up", + "Grab the kitchenpot with smooth exterior and lift together", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Lift the round kitchenpot with handles upward and hold it", + "Lift the medium kitchenpot made of metal steadily with support", + "Secure the smooth gray kitchenpot and lift upward.", + "Lift the metal kitchenpot up together", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Grab the dark gray stove kitchenpot using both arms", + "Grasp the metal kitchenpot and elevate together.", + "Raise the round kitchenpot with handles using both arms", + "Secure the dark gray stove kitchenpot and lift it up", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Bring the medium kitchenpot made of metal upwards together", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Lift the gray kitchenpot using both arms now.", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Raise the smooth gray kitchenpot securely with arms", + "Bring the kitchenpot for boiling and cooking up together", + "Securely lift the metal kitchenpot together", + "Hold the round kitchenpot with handles and lift upward", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Lift the gray kitchenpot up using your arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Use both arms to raise the cooking kitchenpot with side grips", + "Carry the medium kitchenpot made of metal securely using arms", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Place hands on the round kitchenpot with handles, then lift.", + "Lift the kitchenpot with smooth exterior upwards with care", + "Raise the dark gray stove kitchenpot together using arms", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Hold and raise the dark gray stove kitchenpot together", + "Raise and hold the medium kitchenpot made of metal together", + "Hold the cylindrical kitchenpot with both arms", + "Hold and raise the dark gray stove kitchenpot together", + "Grab the medium-sized kitchenpot and lift it upwards", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise the medium kitchenpot made of metal with strong support", + "Raise the kitchenpot with smooth exterior together with arms", + "Grab the cooking kitchenpot with side grips and lift it up", + "Use arms to lift the dark gray stove kitchenpot upward", + "Both arms lift the medium kitchenpot made of metal upright", + "Pick up the cylindrical kitchenpot with both arms", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Grab the kitchenpot with smooth exterior and lift together", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Lift the cooking kitchenpot with side grips steadily with support", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Lift the kitchenpot for boiling and cooking up together", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Grab the metal kitchenpot using both arms", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Raise the cylindrical kitchenpot using both arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Hold the gray kitchenpot firmly and move upward.", + "Bring the smooth gray kitchenpot upwards together", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Lift the dark gray stove kitchenpot using both arms now.", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Raise the medium kitchenpot made of metal securely with arms", + "Bring the kitchenpot for boiling and cooking up together", + "Securely lift the gray cylindrical metal kitchenpot together" + ], + "unseen": [ + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode14.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..399eaa302fd30ec0d460a2b043809286bbeeea56 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the dark gray stove kitchenpot with strong support", + "Bring the gray kitchenpot up together", + "Hold the medium kitchenpot made of metal firmly with arms", + "Pick up the gray kitchenpot with both arms", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Hold the medium-sized kitchenpot firmly and lift it", + "Lift the gray kitchenpot steadily using arms", + "Lift the metal kitchenpot using both arms now.", + "Lift the gray kitchenpot up together", + "Securely lift the kitchenpot with smooth exterior together", + "Hold the kitchenpot with smooth exterior with both arms", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Pick up the smooth gray kitchenpot with careful lifting", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Use arms to lift the medium-sized kitchenpot upward", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Bring the gray kitchenpot upwards together", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Take hold of the medium kitchenpot made of metal and lift up", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the cylindrical kitchenpot up using your arms", + "Raise and hold the kitchenpot with smooth exterior together", + "Grab the smooth gray kitchenpot using both arms", + "Grip the round kitchenpot with handles firmly and lift", + "Carry the medium-sized kitchenpot securely using arms", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Grab the medium kitchenpot made of metal and lift it up", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Lift the cylindrical kitchenpot upward and hold it", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Grab the metal kitchenpot and lift together", + "Raise the gray kitchenpot upward with both hands", + "Lift the dark gray stove kitchenpot steadily with support", + "Secure the dark gray stove kitchenpot and lift upward.", + "Raise the medium-sized kitchenpot securely with arms", + "Use both arms to raise the gray kitchenpot.", + "Grasp the medium-sized kitchenpot and elevate together.", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Secure the kitchenpot with smooth exterior and lift it up", + "Raise the dark gray stove kitchenpot together using arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Raise the cooking kitchenpot with side grips together with arms", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Hold the metal kitchenpot firmly and move upward.", + "Hold and raise the kitchenpot with smooth exterior together", + "Both arms lift the round kitchenpot with handles upright", + "Hold the smooth gray kitchenpot and lift upward", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Lift the metal kitchenpot upwards with care", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Bring the gray cylindrical metal kitchenpot up together", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Raise the medium kitchenpot made of metal evenly with arms", + "Hold the cylindrical kitchenpot firmly and lift it", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Lift the kitchenpot for boiling and cooking up together", + "Securely lift the round kitchenpot with handles together", + "Hold the kitchenpot for boiling and cooking with both arms", + "Grab the metal kitchenpot and lift it upwards", + "Pick up the medium-sized kitchenpot with careful lifting", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Use arms to lift the gray kitchenpot upward", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Bring the medium-sized kitchenpot upwards together", + "Lift the medium-sized kitchenpot upward with both arms", + "Take hold of the medium-sized kitchenpot and lift up", + "Hold and raise the metal kitchenpot together", + "Lift the kitchenpot with smooth exterior up using your arms", + "Raise and hold the kitchenpot with smooth exterior together", + "Grab the metal kitchenpot using both arms", + "Grip the medium-sized kitchenpot firmly and lift", + "Carry the dark gray stove kitchenpot securely using arms", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Grab the cooking kitchenpot with side grips and lift it up", + "Lift the smooth gray kitchenpot carefully using arms", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Raise the cylindrical kitchenpot using both arms", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Secure the dark gray stove kitchenpot and lift upward.", + "Raise the dark gray stove kitchenpot securely with arms", + "Use both arms to raise the medium kitchenpot made of metal.", + "Grasp the cylindrical kitchenpot and elevate together.", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Secure the kitchenpot with smooth exterior and lift it up", + "Raise the metal kitchenpot together using arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Raise the medium kitchenpot made of metal together with arms", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Hold and raise the medium kitchenpot made of metal together", + "Both arms lift the medium kitchenpot made of metal upright", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Use both arms to raise the medium-sized kitchenpot", + "Lift the round kitchenpot with handles upwards with care" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode15.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..37695c9df1bf3a84a07c45b51c2be6ebc8a29322 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the dark gray stove kitchenpot upward with both hands", + "Raise the kitchenpot with smooth exterior using both arms", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Lift the round kitchenpot with handles carefully using both arms.", + "Raise the dark gray stove kitchenpot securely with arms", + "Grip the smooth gray kitchenpot firmly and lift", + "Use both arms to raise the round kitchenpot with handles.", + "Secure the medium kitchenpot made of metal and lift it up", + "Carry the cooking kitchenpot with side grips securely using arms", + "Lift the metal kitchenpot steadily with support", + "Lift the kitchenpot with smooth exterior up using your arms", + "Hold the medium kitchenpot made of metal with both arms", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Raise the round kitchenpot with handles with strong support", + "Raise the medium-sized kitchenpot together using arms", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Bring the gray cylindrical metal kitchenpot up together", + "Grab the medium-sized kitchenpot and lift it upwards", + "Support the metal kitchenpot and raise it upward", + "Raise and hold the kitchenpot with smooth exterior together", + "Use both arms to raise the cylindrical kitchenpot", + "Raise the medium-sized kitchenpot evenly with arms", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Use arms to lift the dark gray stove kitchenpot upward", + "Lift the kitchenpot with smooth exterior upwards with care", + "Secure the medium-sized kitchenpot and lift upward.", + "Hold the medium kitchenpot made of metal firmly and lift it", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Raise the metal kitchenpot steadily using arms", + "Hold and raise the metal kitchenpot together", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the round kitchenpot with handles together with arms", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Hold the dark gray stove kitchenpot and lift upward", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Pick up the metal kitchenpot with both arms", + "Lift the kitchenpot with smooth exterior up together", + "Pick up the smooth gray kitchenpot with careful lifting", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Lift the dark gray stove kitchenpot using both arms now.", + "Grab the gray kitchenpot and lift together", + "Grasp the cylindrical kitchenpot and elevate together.", + "Bring the metal kitchenpot upwards together", + "Securely lift the kitchenpot for boiling and cooking together", + "Grab the medium-sized kitchenpot using both arms", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Take hold of the round kitchenpot with handles and lift up", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Raise the cooking kitchenpot with side grips using both arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Raise the medium kitchenpot made of metal securely with arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Use both arms to raise the dark gray stove kitchenpot.", + "Secure the cylindrical kitchenpot and lift it up", + "Carry the kitchenpot with smooth exterior securely using arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Lift the medium kitchenpot made of metal up using your arms", + "Hold the metal kitchenpot with both arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Raise the cooking kitchenpot with side grips with strong support", + "Raise the medium-sized kitchenpot together using arms", + "Grab the metal kitchenpot and lift it up", + "Bring the round kitchenpot with handles up together", + "Grab the medium-sized kitchenpot and lift it upwards", + "Support the kitchenpot with smooth exterior and raise it upward", + "Raise and hold the cooking kitchenpot with side grips together", + "Use both arms to raise the dark gray stove kitchenpot", + "Raise the round kitchenpot with handles evenly with arms", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Use arms to lift the gray kitchenpot upward", + "Lift the cylindrical kitchenpot upwards with care", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Hold the medium-sized kitchenpot firmly and lift it", + "With arms, raise the metal kitchenpot upward slowly.", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Hold and raise the round kitchenpot with handles together", + "Raise the medium kitchenpot made of metal together with arms", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Hold the round kitchenpot with handles and lift upward", + "Hold the round kitchenpot with handles firmly with arms", + "Pick up the gray kitchenpot with both arms", + "Lift the smooth gray kitchenpot up together", + "Pick up the gray kitchenpot with careful lifting", + "Lift the round kitchenpot with handles steadily using arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Grab the round kitchenpot with handles and lift together", + "Grasp the smooth gray kitchenpot and elevate together.", + "Bring the medium-sized kitchenpot upwards together", + "Securely lift the medium kitchenpot made of metal together", + "Grab the kitchenpot with smooth exterior using both arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Both arms lift the kitchenpot for boiling and cooking upright" + ], + "unseen": [ + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode16.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..fa5b4406c9d3be728e7d697c69dbb06b1e8631ea --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the metal kitchenpot evenly with arms", + "Raise the smooth gray kitchenpot using both arms", + "Raise the round kitchenpot with handles securely with arms", + "Raise the cylindrical kitchenpot together using arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Use both arms to raise the dark gray stove kitchenpot.", + "Grab the cylindrical kitchenpot and lift it up", + "Take hold of the medium-sized kitchenpot and lift up", + "Lift the dark gray stove kitchenpot steadily with support", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Hold the round kitchenpot with handles firmly and lift it", + "Bring the smooth gray kitchenpot upwards together", + "Hold the round kitchenpot with handles firmly and move upward.", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Securely lift the cooking kitchenpot with side grips together", + "Hold the smooth gray kitchenpot and lift upward", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Raise the smooth gray kitchenpot together with arms", + "Use both arms to raise the smooth gray kitchenpot", + "Place hands on the gray kitchenpot, then lift.", + "Grab the gray kitchenpot using both arms", + "Lift the round kitchenpot with handles upwards with care", + "Hold the cylindrical kitchenpot firmly with arms", + "Raise and hold the gray kitchenpot together", + "Grip the medium-sized kitchenpot firmly and lift", + "Grab the kitchenpot for boiling and cooking and lift together", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Lift the dark gray stove kitchenpot upward and hold it", + "Lift the medium-sized kitchenpot upward with both arms", + "Lift the medium kitchenpot made of metal steadily using arms", + "Carry the round kitchenpot with handles securely using arms", + "Hold the round kitchenpot with handles firmly, then lift.", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Bring the cooking kitchenpot with side grips up together", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Hold and raise the dark gray stove kitchenpot together", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Secure the cylindrical kitchenpot and lift upward.", + "Grab the medium-sized kitchenpot and lift it upwards", + "Lift the round kitchenpot with handles carefully using both arms.", + "Raise the cylindrical kitchenpot with strong support", + "Lift the round kitchenpot with handles up together", + "Lift the medium kitchenpot made of metal carefully using arms", + "Pick up the medium kitchenpot made of metal with both arms", + "Both arms lift the medium-sized kitchenpot upright", + "Hold the medium kitchenpot made of metal with both arms", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Support the round kitchenpot with handles and raise it upward", + "Raise the round kitchenpot with handles evenly with arms", + "Raise the smooth gray kitchenpot using both arms", + "Raise the medium kitchenpot made of metal securely with arms", + "Raise the medium kitchenpot made of metal together using arms", + "Hold and raise the gray kitchenpot together", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Use both arms to raise the cylindrical kitchenpot.", + "Grab the cooking kitchenpot with side grips and lift it up", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Lift the kitchenpot with smooth exterior steadily with support", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Hold the smooth gray kitchenpot firmly and lift it", + "Bring the metal kitchenpot upwards together", + "Hold the round kitchenpot with handles firmly and move upward.", + "Raise the dark gray stove kitchenpot steadily using arms", + "Securely lift the cylindrical kitchenpot together", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Raise the dark gray stove kitchenpot together with arms", + "Use both arms to raise the gray kitchenpot", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Grab the gray kitchenpot using both arms", + "Lift the cooking kitchenpot with side grips upwards with care", + "Hold the gray kitchenpot firmly with arms", + "Raise and hold the gray kitchenpot together", + "Grip the medium kitchenpot made of metal firmly and lift", + "Grab the cylindrical kitchenpot and lift together", + "Raise the gray kitchenpot upward with both hands", + "Lift the gray kitchenpot upward and hold it", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Hold the gray kitchenpot firmly, then lift.", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Use arms to lift the metal kitchenpot upward", + "Bring the kitchenpot with smooth exterior up together", + "Secure the cooking kitchenpot with side grips and lift it up", + "Hold and raise the round kitchenpot with handles together", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Raise the medium-sized kitchenpot with strong support", + "Lift the metal kitchenpot up together", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Pick up the round kitchenpot with handles with both arms", + "Both arms lift the smooth gray kitchenpot upright", + "Hold the round kitchenpot with handles with both arms", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Support the gray kitchenpot and raise it upward" + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode17.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..85989246f974bcf4fce0936ba09bf04369d0f2f5 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the cylindrical kitchenpot using both arms", + "Bring the metal kitchenpot upwards together", + "Hold the dark gray stove kitchenpot with both arms", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the medium-sized kitchenpot using both arms now.", + "Both arms lift the cylindrical kitchenpot upright", + "Lift the medium kitchenpot made of metal upwards with care", + "Lift the dark gray stove kitchenpot steadily using arms", + "Lift the medium kitchenpot made of metal upward with both arms", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Carry the medium kitchenpot made of metal securely using arms", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Grab the cooking kitchenpot with side grips using both arms", + "Raise the smooth gray kitchenpot together using arms", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Raise the medium-sized kitchenpot with strong support", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Lift the medium kitchenpot made of metal steadily with support", + "Grip the gray kitchenpot firmly and lift", + "Use arms to lift the dark gray stove kitchenpot upward", + "Secure the round kitchenpot with handles and lift it up", + "Take hold of the medium kitchenpot made of metal and lift up", + "Raise the cylindrical kitchenpot steadily using arms", + "Bring the metal kitchenpot up together", + "Use both arms to raise the round kitchenpot with handles", + "Grab the smooth gray kitchenpot and lift it upwards", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Raise the smooth gray kitchenpot together with arms", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Grab the metal kitchenpot and lift it up", + "Raise the round kitchenpot with handles upward with both hands", + "Lift the gray kitchenpot carefully using arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Lift the dark gray stove kitchenpot up together", + "Secure the cylindrical kitchenpot and lift upward.", + "Securely lift the gray kitchenpot together", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Raise the round kitchenpot with handles securely with arms", + "Lift the cooking kitchenpot with side grips up using your arms", + "Grab the round kitchenpot with handles and lift together", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Raise the gray kitchenpot using both arms", + "Bring the medium-sized kitchenpot upwards together", + "Hold the smooth gray kitchenpot with both arms", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Hold and raise the gray kitchenpot together", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Both arms lift the dark gray stove kitchenpot upright", + "Lift the smooth gray kitchenpot upwards with care", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Use both arms to raise the round kitchenpot with handles.", + "Raise and hold the medium kitchenpot made of metal together", + "Carry the medium-sized kitchenpot securely using arms", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Grab the metal kitchenpot using both arms", + "Raise the cylindrical kitchenpot together using arms", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Raise the round kitchenpot with handles evenly with arms", + "Hold and raise the gray kitchenpot together", + "Lift the round kitchenpot with handles upward and hold it", + "Raise the dark gray stove kitchenpot with strong support", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Lift the metal kitchenpot steadily with support", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Secure the kitchenpot with smooth exterior and lift it up", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Bring the cooking kitchenpot with side grips up together", + "Use both arms to raise the gray kitchenpot", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Raise the dark gray stove kitchenpot together with arms", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Grab the cooking kitchenpot with side grips and lift it up", + "Raise the medium kitchenpot made of metal upward with both hands", + "Lift the smooth gray kitchenpot carefully using arms", + "Support the medium kitchenpot made of metal and raise it upward", + "Pick up the medium-sized kitchenpot with both arms", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Lift the medium-sized kitchenpot up together", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Securely lift the cooking kitchenpot with side grips together", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Raise the smooth gray kitchenpot securely with arms", + "Lift the cooking kitchenpot with side grips up using your arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Grasp the kitchenpot for boiling and cooking and elevate together." + ], + "unseen": [ + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode18.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..62e3d5767695cb4f7741305107088ab193ae3fd7 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Bring the smooth gray kitchenpot upwards together", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Bring the cooking kitchenpot with side grips up together", + "Lift the round kitchenpot with handles upward with both arms", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Grip the dark gray stove kitchenpot firmly and lift", + "Support the gray kitchenpot and raise it upward", + "Carry the cylindrical kitchenpot securely using arms", + "Raise the kitchenpot with smooth exterior together with arms", + "Grab the gray kitchenpot and lift it upwards", + "Both arms lift the cooking kitchenpot with side grips upright", + "Lift the medium-sized kitchenpot steadily with support", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Grab the cooking kitchenpot with side grips and lift it up", + "Hold the cooking kitchenpot with side grips with both arms", + "Lift the dark gray stove kitchenpot steadily using arms", + "Lift the cylindrical kitchenpot up using your arms", + "Lift the gray kitchenpot carefully using arms", + "Use both arms to raise the smooth gray kitchenpot", + "Pick up the kitchenpot with smooth exterior with both arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Hold the medium-sized kitchenpot and lift upward", + "Raise the medium kitchenpot made of metal securely with arms", + "Grab the round kitchenpot with handles and lift together", + "Use arms to lift the medium kitchenpot made of metal upward", + "Secure the cylindrical kitchenpot and lift upward.", + "Hold the medium-sized kitchenpot firmly with arms", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Lift the gray cylindrical metal kitchenpot up together", + "Raise and hold the medium kitchenpot made of metal together", + "Secure the round kitchenpot with handles and lift it up", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Lift the medium-sized kitchenpot upward and hold it", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Pick up the gray kitchenpot with careful lifting", + "Securely lift the dark gray stove kitchenpot together", + "Lift the cylindrical kitchenpot using both arms now.", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Raise the round kitchenpot with handles steadily using arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Use both arms to raise the cylindrical kitchenpot.", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Raise the medium kitchenpot made of metal upward with both hands", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Grab the dark gray stove kitchenpot using both arms", + "Hold and raise the medium kitchenpot made of metal together", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Lift the metal kitchenpot upwards with care", + "Bring the gray kitchenpot up together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Engage arms to grip and lift the gray kitchenpot.", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Support the cylindrical kitchenpot and raise it upward", + "Carry the medium-sized kitchenpot securely using arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Grab the round kitchenpot with handles and lift it upwards", + "Both arms lift the gray kitchenpot upright", + "Lift the smooth gray kitchenpot steadily with support", + "Hold the gray kitchenpot firmly, then lift.", + "Raise the metal kitchenpot together using arms", + "Grab the metal kitchenpot and lift it up", + "Hold the dark gray stove kitchenpot with both arms", + "Lift the medium kitchenpot made of metal steadily using arms", + "Lift the cooking kitchenpot with side grips up using your arms", + "Lift the medium kitchenpot made of metal carefully using arms", + "Use both arms to raise the medium kitchenpot made of metal", + "Pick up the round kitchenpot with handles with both arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Hold the cooking kitchenpot with side grips and lift upward", + "Raise the kitchenpot with smooth exterior securely with arms", + "Grab the kitchenpot for boiling and cooking and lift together", + "Use arms to lift the round kitchenpot with handles upward", + "Secure the medium kitchenpot made of metal and lift upward.", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Lift the gray cylindrical metal kitchenpot up together", + "Raise and hold the kitchenpot for boiling and cooking together", + "Secure the cylindrical kitchenpot and lift it up", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Lift the medium kitchenpot made of metal upward and hold it", + "Raise the cylindrical kitchenpot evenly with arms", + "Pick up the gray kitchenpot with careful lifting", + "Securely lift the cooking kitchenpot with side grips together", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Raise the medium-sized kitchenpot using both arms", + "Take hold of the round kitchenpot with handles and lift up", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Raise the medium kitchenpot made of metal steadily using arms", + "Raise the dark gray stove kitchenpot with strong support", + "Use both arms to raise the gray kitchenpot.", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Raise the cylindrical kitchenpot upward with both hands", + "Hold the metal kitchenpot firmly and move upward.", + "Grab the kitchenpot with smooth exterior using both arms", + "Hold and raise the kitchenpot for boiling and cooking together" + ], + "unseen": [ + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode19.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..ec5462b5dd7a7bc16a1a4c5cf45f02f2bbe4ac6f --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise and hold the smooth gray kitchenpot together", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Raise the medium-sized kitchenpot with strong support", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Bring the dark gray stove kitchenpot up together", + "Lift the metal kitchenpot carefully using both arms.", + "Lift the gray cylindrical metal kitchenpot up together", + "Use arms to lift the round kitchenpot with handles upward", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Grab the round kitchenpot with handles and lift it upwards", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Pick up the cooking kitchenpot with side grips with both arms", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Grab the cylindrical kitchenpot and lift together", + "Hold and raise the cylindrical kitchenpot together", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Lift the gray kitchenpot up using your arms", + "Lift the round kitchenpot with handles steadily with support", + "Secure the kitchenpot with smooth exterior and lift it up", + "Carry the round kitchenpot with handles securely using arms", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Use both arms to raise the medium-sized kitchenpot", + "Securely lift the cooking kitchenpot with side grips together", + "Support the cylindrical kitchenpot and raise it upward", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Lift the cooking kitchenpot with side grips upwards with care", + "Lift the cylindrical kitchenpot carefully using arms", + "Raise the smooth gray kitchenpot together using arms", + "Raise the medium-sized kitchenpot securely with arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Lift the gray kitchenpot upward with both arms", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Raise the cooking kitchenpot with side grips together with arms", + "Take hold of the gray kitchenpot and lift up", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Grab the gray kitchenpot using both arms", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Bring the gray kitchenpot upwards together", + "Hold and raise the gray kitchenpot together", + "With arms, raise the metal kitchenpot upward slowly.", + "Both arms lift the medium kitchenpot made of metal upright", + "Grab the cooking kitchenpot with side grips and lift it up", + "Hold the medium-sized kitchenpot and lift upward", + "Raise the dark gray stove kitchenpot evenly with arms", + "Hold the kitchenpot for boiling and cooking with both arms", + "Lift the dark gray stove kitchenpot using both arms now.", + "Raise and hold the dark gray stove kitchenpot together", + "Pick up the medium-sized kitchenpot with careful lifting", + "Raise the metal kitchenpot with strong support", + "Grip the medium kitchenpot made of metal firmly and lift", + "Bring the dark gray stove kitchenpot up together", + "Lift the round kitchenpot with handles carefully using both arms.", + "Lift the cooking kitchenpot with side grips up together", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Grab the medium-sized kitchenpot and lift it upwards", + "Hold the medium kitchenpot made of metal firmly with arms", + "Pick up the round kitchenpot with handles with both arms", + "Secure the medium-sized kitchenpot and lift upward.", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Grab the kitchenpot for boiling and cooking and lift together", + "Hold and raise the round kitchenpot with handles together", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Lift the cooking kitchenpot with side grips up using your arms", + "Lift the medium-sized kitchenpot steadily with support", + "Secure the smooth gray kitchenpot and lift it up", + "Carry the dark gray stove kitchenpot securely using arms", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Use both arms to raise the gray kitchenpot", + "Securely lift the kitchenpot for boiling and cooking together", + "Support the medium-sized kitchenpot and raise it upward", + "Raise the smooth gray kitchenpot upward with both hands", + "Lift the medium-sized kitchenpot upwards with care", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Raise the cylindrical kitchenpot together using arms", + "Raise the gray kitchenpot securely with arms", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Raise the smooth gray kitchenpot using both arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Use both arms to raise the gray kitchenpot.", + "Raise the smooth gray kitchenpot together with arms", + "Take hold of the metal kitchenpot and lift up", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Grab the gray kitchenpot using both arms", + "Hold the cylindrical kitchenpot firmly and lift it", + "Hold the round kitchenpot with handles firmly and move upward.", + "Bring the smooth gray kitchenpot upwards together", + "Hold and raise the cooking kitchenpot with side grips together", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Both arms lift the medium-sized kitchenpot upright", + "Grab the cylindrical kitchenpot and lift it up", + "Hold the medium-sized kitchenpot and lift upward", + "Raise the smooth gray kitchenpot evenly with arms", + "Hold the metal kitchenpot with both arms", + "Lift the medium kitchenpot made of metal using both arms now." + ], + "unseen": [ + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode2.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..c9a7bb8a68e53f10c822ab8eb38ce3bec6107782 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the cooking kitchenpot with side grips with strong support", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Raise the medium-sized kitchenpot upward with both hands", + "Lift the gray kitchenpot using both arms now.", + "Pick up the medium-sized kitchenpot with careful lifting", + "Carry the dark gray stove kitchenpot securely using arms", + "Hold the gray kitchenpot and lift upward", + "Lift the metal kitchenpot steadily using arms", + "Lift the metal kitchenpot upwards with care", + "Lift the cooking kitchenpot with side grips steadily with support", + "Hold the dark gray stove kitchenpot with both arms", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Support the medium kitchenpot made of metal and raise it upward", + "Hold and raise the metal kitchenpot together", + "Grab the cooking kitchenpot with side grips using both arms", + "Both arms lift the medium-sized kitchenpot upright", + "Securely lift the medium-sized kitchenpot together", + "Lift the round kitchenpot with handles upward and hold it", + "Raise the medium-sized kitchenpot evenly with arms", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Bring the medium-sized kitchenpot up together", + "Hold the cylindrical kitchenpot firmly and lift it", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Use both arms to raise the gray kitchenpot", + "Lift the medium kitchenpot made of metal carefully using arms", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Lift the medium-sized kitchenpot up using your arms", + "Raise the cylindrical kitchenpot together with arms", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Raise the kitchenpot with smooth exterior using both arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the cylindrical kitchenpot securely with arms", + "Raise and hold the round kitchenpot with handles together", + "Pick up the medium kitchenpot made of metal with both arms", + "Grab the gray kitchenpot and lift it up", + "Lift the cylindrical kitchenpot up together", + "Engage arms to grip and lift the gray kitchenpot.", + "Secure the gray kitchenpot and lift it up", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Bring the round kitchenpot with handles upwards together", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Raise the kitchenpot for boiling and cooking together using arms", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Take hold of the round kitchenpot with handles and lift up", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Raise the dark gray stove kitchenpot with strong support", + "Use arms to lift the gray kitchenpot upward", + "Raise the gray kitchenpot upward with both hands", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Carry the medium kitchenpot made of metal securely using arms", + "Hold the medium-sized kitchenpot and lift upward", + "Lift the dark gray stove kitchenpot steadily using arms", + "Lift the dark gray stove kitchenpot upwards with care", + "Lift the gray kitchenpot steadily with support", + "Hold the medium kitchenpot made of metal with both arms", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Support the cylindrical kitchenpot and raise it upward", + "Hold and raise the dark gray stove kitchenpot together", + "Grab the cylindrical kitchenpot using both arms", + "Both arms lift the dark gray stove kitchenpot upright", + "Securely lift the cylindrical kitchenpot together", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Bring the round kitchenpot with handles up together", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Secure the cylindrical kitchenpot and lift upward.", + "Use both arms to raise the metal kitchenpot", + "Lift the cylindrical kitchenpot carefully using arms", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Grab the cylindrical kitchenpot and lift it upwards", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Raise the kitchenpot with smooth exterior together with arms", + "Grab the kitchenpot with smooth exterior and lift together", + "Raise the kitchenpot with smooth exterior using both arms", + "Lift the metal kitchenpot upward with both arms", + "Grasp the round kitchenpot with handles and elevate together.", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Hold and raise the round kitchenpot with handles together", + "Raise the metal kitchenpot securely with arms", + "Raise and hold the medium-sized kitchenpot together", + "Pick up the medium kitchenpot made of metal with both arms", + "Grab the medium kitchenpot made of metal and lift it up", + "Lift the round kitchenpot with handles up together", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Secure the gray kitchenpot and lift it up", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Bring the dark gray stove kitchenpot upwards together", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Raise the metal kitchenpot together using arms", + "Hold the round kitchenpot with handles firmly, then lift.", + "Take hold of the gray kitchenpot and lift up", + "Grip the smooth gray kitchenpot firmly and lift" + ], + "unseen": [ + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode20.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..0733270004bfbf891fe5cab38cbdc98a63212af2 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium kitchenpot made of metal firmly and lift it", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise the medium kitchenpot made of metal with strong support", + "Bring the medium kitchenpot made of metal upwards together", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Hold the metal kitchenpot with both arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Hold the gray kitchenpot firmly with arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Raise the cylindrical kitchenpot using both arms", + "With arms, raise the metal kitchenpot upward slowly.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Pick up the gray kitchenpot with both arms", + "Grab the gray kitchenpot and lift it upwards", + "Raise the gray kitchenpot securely with arms", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Hold and raise the cylindrical kitchenpot together", + "Place hands on the metal kitchenpot, then lift.", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Raise and hold the medium-sized kitchenpot together", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Lift the dark gray stove kitchenpot upwards with care", + "Secure the cylindrical kitchenpot and lift it up", + "Take hold of the gray kitchenpot and lift up", + "Raise the medium-sized kitchenpot together with arms", + "Secure the dark gray stove kitchenpot and lift upward.", + "Raise the gray kitchenpot upward with both hands", + "Raise the medium-sized kitchenpot evenly with arms", + "Pick up the medium-sized kitchenpot with careful lifting", + "Hold the gray kitchenpot firmly and move upward.", + "Raise the medium kitchenpot made of metal together using arms", + "Grab the kitchenpot with smooth exterior using both arms", + "Use both arms to raise the gray kitchenpot.", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Carry the gray kitchenpot securely using arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Securely lift the smooth gray kitchenpot together", + "Support the cooking kitchenpot with side grips and raise it upward", + "Lift the medium kitchenpot made of metal up together", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Use both arms to raise the cooking kitchenpot with side grips", + "Lift the medium kitchenpot made of metal steadily using arms", + "Hold and raise the dark gray stove kitchenpot together", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Lift the medium-sized kitchenpot carefully using arms", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise the round kitchenpot with handles with strong support", + "Bring the dark gray stove kitchenpot upwards together", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Hold the kitchenpot with smooth exterior with both arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Hold the medium-sized kitchenpot firmly with arms", + "Bring the medium-sized kitchenpot up together", + "Raise the smooth gray kitchenpot using both arms", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Use arms to lift the metal kitchenpot upward", + "Lift the medium kitchenpot made of metal upward and hold it", + "Pick up the dark gray stove kitchenpot with both arms", + "Grab the metal kitchenpot and lift it upwards", + "Raise the round kitchenpot with handles securely with arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Hold and raise the kitchenpot with smooth exterior together", + "Place hands on the cylindrical kitchenpot, then lift.", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Raise and hold the round kitchenpot with handles together", + "Grip the smooth gray kitchenpot firmly and lift", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Secure the metal kitchenpot and lift it up", + "Take hold of the gray kitchenpot and lift up", + "Raise the metal kitchenpot together with arms", + "Secure the smooth gray kitchenpot and lift upward.", + "Raise the cylindrical kitchenpot upward with both hands", + "Raise the medium kitchenpot made of metal evenly with arms", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Raise the medium kitchenpot made of metal together using arms", + "Grab the gray kitchenpot using both arms", + "Use both arms to raise the round kitchenpot with handles.", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Carry the dark gray stove kitchenpot securely using arms", + "Grab the smooth gray kitchenpot and lift it up", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Securely lift the round kitchenpot with handles together", + "Support the cooking kitchenpot with side grips and raise it upward", + "Lift the gray cylindrical metal kitchenpot up together", + "Lift the metal kitchenpot up using your arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Hold the dark gray stove kitchenpot and lift upward", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Lift the medium kitchenpot made of metal steadily using arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Lift the smooth gray kitchenpot carefully using arms", + "Both arms lift the smooth gray kitchenpot upright" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode21.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..7bddb4de368bb6cc1348714240c4182fef250a29 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the metal kitchenpot steadily with support", + "Raise the round kitchenpot with handles evenly with arms", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Both arms lift the smooth gray kitchenpot upright", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Lift the medium-sized kitchenpot upward and hold it", + "Bring the smooth gray kitchenpot upwards together", + "Grab the round kitchenpot with handles and lift it up", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Lift the cooking kitchenpot with side grips up using your arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Carry the gray kitchenpot securely using arms", + "Hold the smooth gray kitchenpot and lift upward", + "Raise the round kitchenpot with handles with strong support", + "Grab the metal kitchenpot using both arms", + "Secure the dark gray stove kitchenpot and lift it up", + "Support the cylindrical kitchenpot and raise it upward", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Raise and hold the kitchenpot with smooth exterior together", + "Use both arms to raise the round kitchenpot with handles", + "Raise the medium kitchenpot made of metal together with arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Lift the medium kitchenpot made of metal upward with both arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise the dark gray stove kitchenpot using both arms", + "Pick up the cylindrical kitchenpot with careful lifting", + "Lift the round kitchenpot with handles using both arms now.", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Hold the kitchenpot with smooth exterior with both arms", + "Lift the smooth gray kitchenpot up together", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Hold and raise the kitchenpot with smooth exterior together", + "Grab the cooking kitchenpot with side grips and lift together", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Lift the medium kitchenpot made of metal carefully using arms", + "Raise the medium kitchenpot made of metal securely with arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Bring the gray kitchenpot up together", + "Secure the gray kitchenpot and lift upward.", + "Raise the kitchenpot with smooth exterior together using arms", + "Grip the cylindrical kitchenpot firmly and lift", + "Lift the metal kitchenpot carefully using both arms.", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the cooking kitchenpot with side grips upwards with care", + "Securely lift the medium kitchenpot made of metal together", + "Take hold of the metal kitchenpot and lift up", + "Lift the cylindrical kitchenpot steadily with support", + "Raise the metal kitchenpot evenly with arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Both arms lift the medium-sized kitchenpot upright", + "Hold the gray kitchenpot firmly, then lift.", + "Lift the medium-sized kitchenpot upward and hold it", + "Bring the round kitchenpot with handles upwards together", + "Grab the round kitchenpot with handles and lift it up", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Lift the dark gray stove kitchenpot up using your arms", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Carry the kitchenpot with smooth exterior securely using arms", + "Hold the round kitchenpot with handles and lift upward", + "Raise the cylindrical kitchenpot with strong support", + "Grab the smooth gray kitchenpot using both arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Support the round kitchenpot with handles and raise it upward", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Raise and hold the kitchenpot for boiling and cooking together", + "Use both arms to raise the gray kitchenpot", + "Raise the gray kitchenpot together with arms", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Hold the metal kitchenpot firmly with arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Hold and raise the cylindrical kitchenpot together", + "Raise the cylindrical kitchenpot using both arms", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Lift the dark gray stove kitchenpot steadily using arms", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the medium-sized kitchenpot with both arms", + "Lift the gray cylindrical metal kitchenpot up together", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Hold and raise the round kitchenpot with handles together", + "Grab the metal kitchenpot and lift together", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Lift the medium kitchenpot made of metal carefully using arms", + "Raise the smooth gray kitchenpot securely with arms", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Bring the kitchenpot with smooth exterior up together", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Raise the kitchenpot with smooth exterior together using arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Pick up the metal kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Securely lift the gray kitchenpot together", + "Take hold of the kitchenpot with smooth exterior and lift up" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode22.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..a8de7415619ce2681fd897e8c96d26b7bf320e0c --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage arms to grip and lift the metal kitchenpot.", + "Carry the medium kitchenpot made of metal securely using arms", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Both arms lift the round kitchenpot with handles upright", + "Bring the smooth gray kitchenpot up together", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Lift the medium-sized kitchenpot using both arms now.", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Lift the round kitchenpot with handles up together", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Lift the gray kitchenpot upward with both arms", + "Raise the smooth gray kitchenpot securely with arms", + "Bring the round kitchenpot with handles upwards together", + "Use both arms to raise the dark gray stove kitchenpot.", + "Hold the cooking kitchenpot with side grips and lift upward", + "Raise the dark gray stove kitchenpot upward with both hands", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Lift the smooth gray kitchenpot up using your arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Secure the medium-sized kitchenpot and lift it up", + "Hold and raise the dark gray stove kitchenpot together", + "Hold and raise the gray kitchenpot together", + "Pick up the cylindrical kitchenpot with both arms", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Raise the cooking kitchenpot with side grips together with arms", + "Lift the smooth gray kitchenpot upwards with care", + "Support the round kitchenpot with handles and raise it upward", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Lift the dark gray stove kitchenpot steadily with support", + "Lift the gray kitchenpot carefully using both arms.", + "Pick up the metal kitchenpot with careful lifting", + "Lift the dark gray stove kitchenpot upward and hold it", + "Raise the cylindrical kitchenpot using both arms", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Raise and hold the round kitchenpot with handles together", + "Use both arms to raise the cooking kitchenpot with side grips", + "Use arms to lift the dark gray stove kitchenpot upward", + "Grasp the medium-sized kitchenpot and elevate together.", + "Raise the medium-sized kitchenpot together using arms", + "Securely lift the kitchenpot for boiling and cooking together", + "Hold the smooth gray kitchenpot firmly and lift it", + "Lift the smooth gray kitchenpot steadily using arms", + "Grab the smooth gray kitchenpot and lift together", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Grab the metal kitchenpot and lift it up", + "Take hold of the smooth gray kitchenpot and lift up", + "Raise the round kitchenpot with handles with strong support", + "Raise the dark gray stove kitchenpot steadily using arms", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Carry the cooking kitchenpot with side grips securely using arms", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Bring the cooking kitchenpot with side grips up together", + "Grab the smooth gray kitchenpot using both arms", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Secure the gray kitchenpot and lift upward.", + "Lift the gray kitchenpot using both arms now.", + "Grab the cylindrical kitchenpot and lift it upwards", + "Lift the metal kitchenpot up together", + "Hold the round kitchenpot with handles firmly with arms", + "Lift the gray kitchenpot upward with both arms", + "Raise the smooth gray kitchenpot securely with arms", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Use both arms to raise the medium-sized kitchenpot.", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Raise the round kitchenpot with handles upward with both hands", + "Hold the gray kitchenpot firmly, then lift.", + "Lift the dark gray stove kitchenpot up using your arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Secure the medium-sized kitchenpot and lift it up", + "Hold and raise the smooth gray kitchenpot together", + "Hold and raise the medium kitchenpot made of metal together", + "Pick up the smooth gray kitchenpot with both arms", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Raise the cylindrical kitchenpot together with arms", + "Lift the cylindrical kitchenpot upwards with care", + "Support the smooth gray kitchenpot and raise it upward", + "Grip the gray kitchenpot firmly and lift", + "Lift the medium-sized kitchenpot steadily with support", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Pick up the round kitchenpot with handles with careful lifting", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Raise the medium-sized kitchenpot using both arms", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Raise and hold the cooking kitchenpot with side grips together", + "Use both arms to raise the round kitchenpot with handles", + "Use arms to lift the gray kitchenpot upward", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Raise the kitchenpot for boiling and cooking together using arms", + "Securely lift the smooth gray kitchenpot together", + "Hold the medium-sized kitchenpot firmly and lift it", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Grab the round kitchenpot with handles and lift together", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Grab the gray kitchenpot and lift it up", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Raise the metal kitchenpot with strong support", + "Raise the kitchenpot with smooth exterior steadily using arms" + ], + "unseen": [ + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode23.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..e7abd818f790d998887071fb9001af2117549d7e --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Support the medium kitchenpot made of metal and raise it upward", + "Take hold of the dark gray stove kitchenpot and lift up", + "Raise the metal kitchenpot together with arms", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Lift the dark gray stove kitchenpot up together", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Lift the dark gray stove kitchenpot upward with both arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Hold the smooth gray kitchenpot and lift upward", + "Raise the round kitchenpot with handles steadily using arms", + "Hold the metal kitchenpot firmly and lift it", + "Grab the dark gray stove kitchenpot using both arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Grab the kitchenpot with smooth exterior and lift it up", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Grab the dark gray stove kitchenpot and lift together", + "Bring the medium-sized kitchenpot upwards together", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Hold the metal kitchenpot with both arms", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Raise the kitchenpot for boiling and cooking together using arms", + "Secure the cylindrical kitchenpot and lift it up", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Hold the gray kitchenpot firmly, then lift.", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Use both arms to raise the dark gray stove kitchenpot", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Securely lift the kitchenpot with smooth exterior together", + "Both arms lift the cylindrical kitchenpot upright", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Lift the metal kitchenpot up using your arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Raise and hold the cylindrical kitchenpot together", + "Hold and raise the dark gray stove kitchenpot together", + "Bring the smooth gray kitchenpot up together", + "Pick up the metal kitchenpot with careful lifting", + "Use both arms to raise the metal kitchenpot.", + "Raise the kitchenpot with smooth exterior with strong support", + "Lift the cooking kitchenpot with side grips upwards with care", + "Use arms to lift the medium kitchenpot made of metal upward", + "Raise the round kitchenpot with handles using both arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Hold and raise the cylindrical kitchenpot together", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Lift the kitchenpot with smooth exterior steadily with support", + "Raise the round kitchenpot with handles upward with both hands", + "Support the round kitchenpot with handles and raise it upward", + "Take hold of the medium-sized kitchenpot and lift up", + "Raise the dark gray stove kitchenpot together with arms", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Lift the dark gray stove kitchenpot up together", + "Lift the medium kitchenpot made of metal upward and hold it", + "Raise the dark gray stove kitchenpot securely with arms", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Lift the gray kitchenpot using both arms now.", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Raise the smooth gray kitchenpot steadily using arms", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Grab the cooking kitchenpot with side grips using both arms", + "Grip the cylindrical kitchenpot firmly and lift", + "Grab the cylindrical kitchenpot and lift it up", + "Lift the dark gray stove kitchenpot steadily using arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Bring the gray kitchenpot upwards together", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Hold the smooth gray kitchenpot with both arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Raise the medium kitchenpot made of metal together using arms", + "Secure the smooth gray kitchenpot and lift it up", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Grab the round kitchenpot with handles and lift it upwards", + "Use both arms to raise the kitchenpot for boiling and cooking", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Securely lift the medium kitchenpot made of metal together", + "Both arms lift the medium-sized kitchenpot upright", + "Secure the cylindrical kitchenpot and lift upward.", + "Lift the cooking kitchenpot with side grips up using your arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Carry the round kitchenpot with handles securely using arms", + "Pick up the metal kitchenpot with both arms", + "Raise and hold the dark gray stove kitchenpot together", + "Hold and raise the smooth gray kitchenpot together", + "Bring the gray kitchenpot up together", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Raise the gray kitchenpot with strong support", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Use arms to lift the medium kitchenpot made of metal upward", + "Raise the medium kitchenpot made of metal using both arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Hold and raise the smooth gray kitchenpot together", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Raise the cooking kitchenpot with side grips upward with both hands" + ], + "unseen": [ + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode24.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..4626b073bd8d60df6a9a726d1954e967bc4fc3e7 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the metal kitchenpot and lift upward", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Use arms to lift the smooth gray kitchenpot upward", + "Raise the metal kitchenpot upward with both hands", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Lift the gray kitchenpot up together", + "Take hold of the dark gray stove kitchenpot and lift up", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Raise the dark gray stove kitchenpot evenly with arms", + "Carry the kitchenpot with smooth exterior securely using arms", + "Lift the dark gray stove kitchenpot upward with both arms", + "Hold the medium kitchenpot made of metal with both arms", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Grab the gray kitchenpot and lift together", + "Raise and hold the metal kitchenpot together", + "Securely lift the medium kitchenpot made of metal together", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Secure the gray kitchenpot and lift it up", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Pick up the metal kitchenpot with careful lifting", + "Lift the metal kitchenpot steadily using arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Raise the medium kitchenpot made of metal together using arms", + "Grab the cooking kitchenpot with side grips using both arms", + "Lift the metal kitchenpot using both arms now.", + "Lift the metal kitchenpot up using your arms", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Raise the smooth gray kitchenpot securely with arms", + "Lift the round kitchenpot with handles carefully using both arms.", + "Grip the cylindrical kitchenpot firmly and lift", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Hold the metal kitchenpot firmly with arms", + "Bring the gray cylindrical metal kitchenpot up together", + "With arms, raise the metal kitchenpot upward slowly.", + "Raise the cylindrical kitchenpot with strong support", + "Lift the metal kitchenpot upwards with care", + "Raise the kitchenpot with smooth exterior using both arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Support the round kitchenpot with handles and raise it upward", + "Raise the cylindrical kitchenpot together with arms", + "Grab the cylindrical kitchenpot and lift it up", + "Both arms lift the medium-sized kitchenpot upright", + "Hold and raise the kitchenpot for boiling and cooking together", + "Engage arms to grip and lift the metal kitchenpot.", + "Raise the metal kitchenpot steadily using arms", + "Lift the cylindrical kitchenpot upward and hold it", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Grasp the cylindrical kitchenpot and elevate together.", + "Use arms to lift the cylindrical kitchenpot upward", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Pick up the kitchenpot with smooth exterior with both arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Lift the medium kitchenpot made of metal up together", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Carry the gray kitchenpot securely using arms", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Hold the metal kitchenpot with both arms", + "Hold the gray kitchenpot firmly and lift it", + "Grab the cylindrical kitchenpot and lift together", + "Raise and hold the gray kitchenpot together", + "Securely lift the cooking kitchenpot with side grips together", + "Hold and raise the round kitchenpot with handles together", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Hold the gray kitchenpot firmly, then lift.", + "Pick up the cylindrical kitchenpot with careful lifting", + "Lift the round kitchenpot with handles steadily using arms", + "Lift the gray kitchenpot steadily with support", + "Raise the medium kitchenpot made of metal together using arms", + "Grab the medium-sized kitchenpot using both arms", + "Lift the smooth gray kitchenpot using both arms now.", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Place hands on the smooth gray kitchenpot, then lift.", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Raise the medium kitchenpot made of metal securely with arms", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Grip the medium kitchenpot made of metal firmly and lift", + "Lift the smooth gray kitchenpot carefully using arms", + "Hold the metal kitchenpot firmly with arms", + "Bring the cylindrical kitchenpot up together", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Raise the cooking kitchenpot with side grips with strong support", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Raise the cylindrical kitchenpot using both arms", + "Bring the kitchenpot with smooth exterior upwards together", + "Support the dark gray stove kitchenpot and raise it upward", + "Raise the cylindrical kitchenpot together with arms", + "Grab the medium kitchenpot made of metal and lift it up", + "Both arms lift the cylindrical kitchenpot upright", + "Hold and raise the dark gray stove kitchenpot together", + "Engage arms to grip and lift the metal kitchenpot.", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Lift the kitchenpot with smooth exterior upward and hold it" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode25.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..23250a3166922ea756df18413db9dd0eed210f85 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Support the dark gray stove kitchenpot and raise it upward", + "Use both arms to raise the round kitchenpot with handles", + "Lift the medium-sized kitchenpot up using your arms", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Lift the round kitchenpot with handles steadily with support", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Lift the cylindrical kitchenpot using both arms now.", + "Raise the medium-sized kitchenpot upward with both hands", + "Lift the gray cylindrical metal kitchenpot up together", + "Raise the dark gray stove kitchenpot steadily using arms", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Hold the round kitchenpot with handles with both arms", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Use both arms to raise the medium-sized kitchenpot.", + "Grab the metal kitchenpot and lift it up", + "Raise the medium-sized kitchenpot securely with arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Bring the gray cylindrical metal kitchenpot up together", + "Grab the metal kitchenpot and lift together", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Lift the dark gray stove kitchenpot upwards with care", + "Raise the kitchenpot for boiling and cooking together with arms", + "Raise the medium kitchenpot made of metal evenly with arms", + "Raise and hold the cylindrical kitchenpot together", + "Lift the smooth gray kitchenpot carefully using arms", + "Grip the cylindrical kitchenpot firmly and lift", + "Place hands on the gray kitchenpot, then lift.", + "Carry the kitchenpot with smooth exterior securely using arms", + "Hold and raise the medium kitchenpot made of metal together", + "Raise the cylindrical kitchenpot with strong support", + "Lift the smooth gray kitchenpot upward with both arms", + "Pick up the dark gray stove kitchenpot with both arms", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Secure the gray kitchenpot and lift upward.", + "Securely lift the metal kitchenpot together", + "Secure the cylindrical kitchenpot and lift it up", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the gray kitchenpot together using arms", + "Hold the kitchenpot with smooth exterior and lift upward", + "Raise the medium-sized kitchenpot using both arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Grab the gray kitchenpot using both arms", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Lift the cylindrical kitchenpot steadily using arms", + "Support the round kitchenpot with handles and raise it upward", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Lift the metal kitchenpot up using your arms", + "Pick up the smooth gray kitchenpot with careful lifting", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Lift the kitchenpot with smooth exterior steadily with support", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Lift the smooth gray kitchenpot using both arms now.", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Lift the kitchenpot for boiling and cooking up together", + "Raise the round kitchenpot with handles steadily using arms", + "Lift the metal kitchenpot upward and hold it", + "Hold the dark gray stove kitchenpot with both arms", + "Use arms to lift the metal kitchenpot upward", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Grab the kitchenpot with smooth exterior and lift it up", + "Raise the gray kitchenpot securely with arms", + "Bring the cylindrical kitchenpot upwards together", + "Bring the medium-sized kitchenpot up together", + "Grab the kitchenpot with smooth exterior and lift together", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Lift the smooth gray kitchenpot upwards with care", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Raise and hold the medium kitchenpot made of metal together", + "Lift the smooth gray kitchenpot carefully using arms", + "Grip the cylindrical kitchenpot firmly and lift", + "Place hands on the smooth gray kitchenpot, then lift.", + "Carry the metal kitchenpot securely using arms", + "Hold and raise the metal kitchenpot together", + "Raise the medium-sized kitchenpot with strong support", + "Lift the cylindrical kitchenpot upward with both arms", + "Pick up the medium kitchenpot made of metal with both arms", + "Both arms lift the dark gray stove kitchenpot upright", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Securely lift the gray kitchenpot together", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the dark gray stove kitchenpot together using arms", + "Hold the gray kitchenpot and lift upward", + "Raise the medium-sized kitchenpot using both arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Grab the smooth gray kitchenpot and lift it upwards", + "Hold the medium kitchenpot made of metal firmly with arms", + "Lift the cooking kitchenpot with side grips steadily using arms" + ], + "unseen": [ + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode26.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..47eb3fe78e728f1d0d1296e2e66e8e8bc387503b --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Lift the smooth gray kitchenpot steadily with support", + "Grab the kitchenpot with smooth exterior and lift it up", + "Bring the cylindrical kitchenpot upwards together", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Raise the gray kitchenpot steadily using arms", + "Secure the dark gray stove kitchenpot and lift upward.", + "Securely lift the gray cylindrical metal kitchenpot together", + "Use both arms to raise the round kitchenpot with handles", + "Lift the cooking kitchenpot with side grips up using your arms", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Hold the smooth gray kitchenpot firmly and lift it", + "Lift the gray kitchenpot using both arms now.", + "Raise and hold the metal kitchenpot together", + "Lift the smooth gray kitchenpot steadily using arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Use arms to lift the cylindrical kitchenpot upward", + "Raise the round kitchenpot with handles together with arms", + "Secure the gray kitchenpot and lift it up", + "Raise the cylindrical kitchenpot evenly with arms", + "Lift the smooth gray kitchenpot upward with both arms", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Hold the cooking kitchenpot with side grips and lift upward", + "Hold and raise the cooking kitchenpot with side grips together", + "Grab the metal kitchenpot and lift it upwards", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Raise the smooth gray kitchenpot securely with arms", + "Use both arms to raise the cylindrical kitchenpot.", + "Pick up the dark gray stove kitchenpot with careful lifting", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Both arms lift the metal kitchenpot upright", + "Lift the metal kitchenpot carefully using arms", + "Pick up the metal kitchenpot with both arms", + "Bring the cylindrical kitchenpot up together", + "Hold the kitchenpot with smooth exterior with both arms", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Hold the gray kitchenpot firmly and move upward.", + "Lift the round kitchenpot with handles carefully using both arms.", + "Hold the medium kitchenpot made of metal firmly with arms", + "Raise the kitchenpot for boiling and cooking using both arms", + "Grab the medium-sized kitchenpot using both arms", + "Take hold of the metal kitchenpot and lift up", + "Raise the metal kitchenpot with strong support", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Carry the dark gray stove kitchenpot securely using arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the smooth gray kitchenpot up together", + "Raise the metal kitchenpot together using arms", + "Lift the cylindrical kitchenpot upward and hold it", + "Lift the metal kitchenpot steadily with support", + "Grab the round kitchenpot with handles and lift it up", + "Bring the kitchenpot for boiling and cooking upwards together", + "Grasp the medium-sized kitchenpot and elevate together.", + "Raise the medium-sized kitchenpot steadily using arms", + "Secure the metal kitchenpot and lift upward.", + "Securely lift the dark gray stove kitchenpot together", + "Use both arms to raise the gray kitchenpot", + "Lift the kitchenpot with smooth exterior up using your arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Raise and hold the round kitchenpot with handles together", + "Lift the metal kitchenpot steadily using arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Use arms to lift the metal kitchenpot upward", + "Raise the cylindrical kitchenpot together with arms", + "Secure the smooth gray kitchenpot and lift it up", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Hold the metal kitchenpot and lift upward", + "Hold and raise the smooth gray kitchenpot together", + "Grab the round kitchenpot with handles and lift it upwards", + "Support the cylindrical kitchenpot and raise it upward", + "Raise the metal kitchenpot securely with arms", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Pick up the medium-sized kitchenpot with careful lifting", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Both arms lift the metal kitchenpot upright", + "Lift the gray kitchenpot carefully using arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "Bring the medium-sized kitchenpot up together", + "Hold the gray kitchenpot with both arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Lift the gray kitchenpot carefully using both arms.", + "Hold the round kitchenpot with handles firmly with arms", + "Raise the round kitchenpot with handles using both arms", + "Grab the metal kitchenpot using both arms", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Raise the medium-sized kitchenpot with strong support", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Carry the dark gray stove kitchenpot securely using arms", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the metal kitchenpot up together", + "Raise the smooth gray kitchenpot together using arms" + ], + "unseen": [ + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode27.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3c3b2daae6c1fb10ea565ec4926c3710a8f51b --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the round kitchenpot with handles together with arms", + "Pick up the medium kitchenpot made of metal with both arms", + "Raise the cylindrical kitchenpot together using arms", + "Hold the round kitchenpot with handles with both arms", + "Raise the smooth gray kitchenpot using both arms", + "Raise the cylindrical kitchenpot upward with both hands", + "Pick up the metal kitchenpot with careful lifting", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Raise and hold the medium kitchenpot made of metal together", + "Take hold of the cylindrical kitchenpot and lift up", + "Bring the cooking kitchenpot with side grips up together", + "Hold and raise the smooth gray kitchenpot together", + "Use both arms to raise the smooth gray kitchenpot", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Lift the metal kitchenpot carefully using arms", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Lift the kitchenpot for boiling and cooking up together", + "Raise the cylindrical kitchenpot evenly with arms", + "Bring the kitchenpot with smooth exterior upwards together", + "Raise the medium kitchenpot made of metal with strong support", + "Hold the dark gray stove kitchenpot firmly with arms", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Lift the kitchenpot with smooth exterior steadily with support", + "Carry the dark gray stove kitchenpot securely using arms", + "Secure the cooking kitchenpot with side grips and lift it up", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Grab the round kitchenpot with handles and lift together", + "Grab the metal kitchenpot and lift it up", + "Lift the cylindrical kitchenpot using both arms now.", + "Lift the medium-sized kitchenpot steadily using arms", + "Securely lift the dark gray stove kitchenpot together", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Hold the metal kitchenpot firmly and lift it", + "Use both arms to raise the medium-sized kitchenpot.", + "Lift the smooth gray kitchenpot upwards with care", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Both arms lift the smooth gray kitchenpot upright", + "With arms, raise the metal kitchenpot upward slowly.", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Secure the metal kitchenpot and lift upward.", + "Grab the cooking kitchenpot with side grips using both arms", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Lift the gray kitchenpot upward and hold it", + "Grasp the gray kitchenpot and elevate together.", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Raise the round kitchenpot with handles together with arms", + "Pick up the smooth gray kitchenpot with both arms", + "Raise the dark gray stove kitchenpot together using arms", + "Hold the metal kitchenpot with both arms", + "Raise the round kitchenpot with handles using both arms", + "Raise the metal kitchenpot upward with both hands", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Support the cylindrical kitchenpot and raise it upward", + "Hold the round kitchenpot with handles firmly and move upward.", + "Raise and hold the gray kitchenpot together", + "Take hold of the dark gray stove kitchenpot and lift up", + "Bring the cooking kitchenpot with side grips up together", + "Hold and raise the medium kitchenpot made of metal together", + "Use both arms to raise the gray kitchenpot", + "Grip the smooth gray kitchenpot firmly and lift", + "Lift the medium-sized kitchenpot carefully using arms", + "Lift the gray kitchenpot carefully using both arms.", + "Lift the dark gray stove kitchenpot up together", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Bring the medium-sized kitchenpot upwards together", + "Raise the kitchenpot for boiling and cooking with strong support", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Raise the dark gray stove kitchenpot securely with arms", + "Use arms to lift the smooth gray kitchenpot upward", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Carry the medium-sized kitchenpot securely using arms", + "Secure the cooking kitchenpot with side grips and lift it up", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Grab the dark gray stove kitchenpot and lift together", + "Grab the cylindrical kitchenpot and lift it up", + "Lift the round kitchenpot with handles using both arms now.", + "Lift the medium kitchenpot made of metal steadily using arms", + "Securely lift the medium kitchenpot made of metal together", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Use both arms to raise the smooth gray kitchenpot.", + "Lift the cooking kitchenpot with side grips upwards with care", + "Lift the gray kitchenpot upward with both arms", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Hold and raise the medium kitchenpot made of metal together", + "Both arms lift the dark gray stove kitchenpot upright", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Hold the metal kitchenpot and lift upward", + "Secure the dark gray stove kitchenpot and lift upward.", + "Grab the round kitchenpot with handles using both arms", + "Grab the cylindrical kitchenpot and lift it upwards", + "Lift the medium kitchenpot made of metal upward and hold it", + "Grasp the metal kitchenpot and elevate together.", + "Lift the kitchenpot with smooth exterior up using your arms" + ], + "unseen": [ + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode28.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..52d706186a9490b8daaddc83266ef8a961ae90b2 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the metal kitchenpot and lift it up", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Raise the medium-sized kitchenpot together with arms", + "Lift the cylindrical kitchenpot upwards with care", + "Grab the kitchenpot with smooth exterior and lift together", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Bring the round kitchenpot with handles up together", + "Hold and raise the medium-sized kitchenpot together", + "Lift the cylindrical kitchenpot upward and hold it", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Hold and raise the dark gray stove kitchenpot together", + "Raise the medium-sized kitchenpot upward with both hands", + "Secure the dark gray stove kitchenpot and lift upward.", + "Lift the cylindrical kitchenpot steadily using arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Raise the gray kitchenpot together using arms", + "Hold the medium-sized kitchenpot with both arms", + "Support the cooking kitchenpot with side grips and raise it upward", + "Lift the round kitchenpot with handles carefully using both arms.", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Raise the medium kitchenpot made of metal securely with arms", + "Bring the round kitchenpot with handles upwards together", + "Hold the round kitchenpot with handles firmly with arms", + "Hold the kitchenpot with smooth exterior and lift upward", + "Take hold of the cylindrical kitchenpot and lift up", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Pick up the round kitchenpot with handles with both arms", + "Lift the kitchenpot for boiling and cooking up together", + "Carry the gray kitchenpot securely using arms", + "Lift the round kitchenpot with handles upward with both arms", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Grab the cylindrical kitchenpot and lift it upwards", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Secure the medium-sized kitchenpot and lift it up", + "Both arms lift the kitchenpot with smooth exterior upright", + "Raise the smooth gray kitchenpot with strong support", + "Lift the dark gray stove kitchenpot carefully using arms", + "Use both arms to raise the gray kitchenpot", + "Grab the gray kitchenpot using both arms", + "Lift the medium-sized kitchenpot steadily with support", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Use arms to lift the medium kitchenpot made of metal upward", + "Raise the round kitchenpot with handles using both arms", + "Raise and hold the cylindrical kitchenpot together", + "Use both arms to raise the smooth gray kitchenpot.", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Securely lift the gray cylindrical metal kitchenpot together", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Raise the cooking kitchenpot with side grips together with arms", + "Lift the medium-sized kitchenpot upwards with care", + "Grab the dark gray stove kitchenpot and lift together", + "Raise the gray kitchenpot evenly with arms", + "Bring the metal kitchenpot up together", + "Hold and raise the cooking kitchenpot with side grips together", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "With arms, raise the gray kitchenpot upward slowly.", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Lift the medium-sized kitchenpot steadily using arms", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Raise the gray kitchenpot together using arms", + "Hold the dark gray stove kitchenpot with both arms", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Raise the metal kitchenpot steadily using arms", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Bring the smooth gray kitchenpot upwards together", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Hold the cooking kitchenpot with side grips and lift upward", + "Take hold of the cylindrical kitchenpot and lift up", + "Hold the medium-sized kitchenpot firmly and lift it", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Pick up the round kitchenpot with handles with both arms", + "Lift the cooking kitchenpot with side grips up together", + "Carry the medium-sized kitchenpot securely using arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Secure the medium-sized kitchenpot and lift it up", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Raise the cooking kitchenpot with side grips with strong support", + "Lift the metal kitchenpot carefully using arms", + "Use both arms to raise the metal kitchenpot", + "Grab the smooth gray kitchenpot using both arms", + "Lift the dark gray stove kitchenpot steadily with support", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Raise the metal kitchenpot using both arms", + "Raise and hold the kitchenpot for boiling and cooking together", + "Use both arms to raise the dark gray stove kitchenpot.", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Securely lift the kitchenpot for boiling and cooking together" + ], + "unseen": [ + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode29.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..0a140b8a9813fc83a85c82bf32ad1e6b42b2ac15 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the medium-sized kitchenpot together using arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Hold and raise the cylindrical kitchenpot together", + "Hold the smooth gray kitchenpot and lift upward", + "Hold the cylindrical kitchenpot firmly with arms", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Lift the gray kitchenpot up together", + "Grip the gray kitchenpot firmly and lift", + "Both arms lift the kitchenpot with smooth exterior upright", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Raise the cylindrical kitchenpot evenly with arms", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Raise the dark gray stove kitchenpot upward with both hands", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Secure the smooth gray kitchenpot and lift it up", + "Securely lift the gray kitchenpot together", + "Raise the kitchenpot for boiling and cooking together with arms", + "Pick up the gray kitchenpot with careful lifting", + "Raise the kitchenpot with smooth exterior securely with arms", + "Lift the dark gray stove kitchenpot upward with both arms", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Bring the dark gray stove kitchenpot up together", + "Hold the medium kitchenpot made of metal with both arms", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Use arms to lift the medium kitchenpot made of metal upward", + "Lift the medium-sized kitchenpot upwards with care", + "Grab the gray kitchenpot using both arms", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Grab the medium kitchenpot made of metal and lift together", + "Bring the round kitchenpot with handles upwards together", + "Hold and raise the kitchenpot with smooth exterior together", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Secure the round kitchenpot with handles and lift upward.", + "Lift the round kitchenpot with handles steadily with support", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Support the metal kitchenpot and raise it upward", + "Pick up the round kitchenpot with handles with both arms", + "Lift the metal kitchenpot upward and hold it", + "Grab the cooking kitchenpot with side grips and lift it up", + "Lift the medium-sized kitchenpot up using your arms", + "Use both arms to raise the medium kitchenpot made of metal", + "Use both arms to raise the smooth gray kitchenpot.", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Raise the metal kitchenpot with strong support", + "Raise the metal kitchenpot together using arms", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Raise the round kitchenpot with handles steadily using arms", + "Hold and raise the metal kitchenpot together", + "Hold the metal kitchenpot and lift upward", + "Hold the medium-sized kitchenpot firmly with arms", + "Raise the round kitchenpot with handles using both arms", + "Lift the kitchenpot with smooth exterior up together", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Both arms lift the medium kitchenpot made of metal upright", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Raise the smooth gray kitchenpot evenly with arms", + "Engage arms to grip and lift the metal kitchenpot.", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Raise and hold the round kitchenpot with handles together", + "Raise the round kitchenpot with handles upward with both hands", + "Lift the medium-sized kitchenpot steadily using arms", + "Take hold of the metal kitchenpot and lift up", + "Secure the medium kitchenpot made of metal and lift it up", + "Securely lift the cylindrical kitchenpot together", + "Raise the kitchenpot with smooth exterior together with arms", + "Pick up the smooth gray kitchenpot with careful lifting", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Lift the kitchenpot with smooth exterior upward with both arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Bring the gray kitchenpot up together", + "Hold the cooking kitchenpot with side grips with both arms", + "Carry the kitchenpot with smooth exterior securely using arms", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Use arms to lift the cylindrical kitchenpot upward", + "Lift the cooking kitchenpot with side grips upwards with care", + "Grab the metal kitchenpot using both arms", + "Lift the metal kitchenpot carefully using arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Bring the cylindrical kitchenpot upwards together", + "Hold and raise the cylindrical kitchenpot together", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Hold the smooth gray kitchenpot firmly and lift it", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Lift the cylindrical kitchenpot steadily with support", + "Lift the smooth gray kitchenpot using both arms now.", + "Support the medium kitchenpot made of metal and raise it upward", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Grab the cylindrical kitchenpot and lift it up", + "Lift the cylindrical kitchenpot up using your arms", + "Use both arms to raise the dark gray stove kitchenpot", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Raise the metal kitchenpot with strong support" + ], + "unseen": [ + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode3.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..3378ae75e5b299ebcb2f691a2add3895008fa439 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the cylindrical kitchenpot with strong support", + "Lift the dark gray stove kitchenpot upward and hold it", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Lift the medium-sized kitchenpot up using your arms", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Raise the dark gray stove kitchenpot together using arms", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Use both arms to raise the metal kitchenpot.", + "Lift the dark gray stove kitchenpot carefully using arms", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Lift the gray kitchenpot steadily using arms", + "Securely lift the medium kitchenpot made of metal together", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Raise the round kitchenpot with handles securely with arms", + "Both arms lift the round kitchenpot with handles upright", + "Support the cylindrical kitchenpot and raise it upward", + "Pick up the metal kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Bring the kitchenpot for boiling and cooking upwards together", + "Secure the dark gray stove kitchenpot and lift upward.", + "Secure the medium-sized kitchenpot and lift it up", + "Take hold of the round kitchenpot with handles and lift up", + "Grab the metal kitchenpot using both arms", + "Raise and hold the cooking kitchenpot with side grips together", + "Lift the gray cylindrical metal kitchenpot up together", + "Bring the metal kitchenpot up together", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Raise the smooth gray kitchenpot upward with both hands", + "Grab the dark gray stove kitchenpot and lift it up", + "Grip the medium kitchenpot made of metal firmly and lift", + "Use both arms to raise the kitchenpot with smooth exterior", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the smooth gray kitchenpot using both arms now.", + "Lift the gray kitchenpot upwards with care", + "Raise the metal kitchenpot using both arms", + "Grab the dark gray stove kitchenpot and lift together", + "Lift the medium-sized kitchenpot upward with both arms", + "Carry the medium kitchenpot made of metal securely using arms", + "Raise the smooth gray kitchenpot together with arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Raise the round kitchenpot with handles evenly with arms", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Hold and raise the medium kitchenpot made of metal together", + "Hold the cooking kitchenpot with side grips and lift upward", + "Hold the kitchenpot with smooth exterior with both arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Lift the round kitchenpot with handles upward and hold it", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Lift the cooking kitchenpot with side grips up using your arms", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Use both arms to raise the medium kitchenpot made of metal.", + "Lift the cooking kitchenpot with side grips carefully using arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Hold the medium kitchenpot made of metal firmly with arms", + "Place hands on the cylindrical kitchenpot, then lift.", + "Lift the metal kitchenpot steadily using arms", + "Securely lift the smooth gray kitchenpot together", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Raise the cooking kitchenpot with side grips securely with arms", + "Both arms lift the cylindrical kitchenpot upright", + "Support the dark gray stove kitchenpot and raise it upward", + "Pick up the smooth gray kitchenpot with both arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Bring the round kitchenpot with handles upwards together", + "Secure the metal kitchenpot and lift upward.", + "Secure the metal kitchenpot and lift it up", + "Take hold of the smooth gray kitchenpot and lift up", + "Grab the kitchenpot for boiling and cooking using both arms", + "Raise and hold the kitchenpot for boiling and cooking together", + "Lift the cooking kitchenpot with side grips up together", + "Bring the gray cylindrical metal kitchenpot up together", + "Grab the medium-sized kitchenpot and lift it upwards", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Raise the medium kitchenpot made of metal upward with both hands", + "Grab the dark gray stove kitchenpot and lift it up", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Use both arms to raise the kitchenpot with smooth exterior", + "Hold and raise the cylindrical kitchenpot together", + "Lift the gray kitchenpot using both arms now.", + "Lift the medium kitchenpot made of metal upwards with care", + "Raise the kitchenpot with smooth exterior using both arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Lift the round kitchenpot with handles upward with both arms", + "Carry the cooking kitchenpot with side grips securely using arms", + "Raise the cylindrical kitchenpot together with arms", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Raise the medium kitchenpot made of metal evenly with arms", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Hold and raise the smooth gray kitchenpot together", + "Hold the medium kitchenpot made of metal and lift upward", + "Hold the cooking kitchenpot with side grips with both arms" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode30.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..a1db6147d9a25fec7749b23abb8a3b18a182d37a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium-sized kitchenpot and lift it upwards", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Lift the gray kitchenpot carefully using arms", + "Hold the metal kitchenpot firmly, then lift.", + "Lift the cylindrical kitchenpot up using your arms", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the metal kitchenpot together using arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Secure the smooth gray kitchenpot and lift upward.", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Lift the cylindrical kitchenpot using both arms now.", + "Carry the kitchenpot with smooth exterior securely using arms", + "Lift the medium-sized kitchenpot upwards with care", + "Securely lift the kitchenpot for boiling and cooking together", + "Grab the smooth gray kitchenpot and lift together", + "Hold the smooth gray kitchenpot firmly and lift it", + "Hold and raise the metal kitchenpot together", + "Lift the cylindrical kitchenpot steadily using arms", + "Lift the gray kitchenpot carefully using both arms.", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Lift the medium-sized kitchenpot steadily with support", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Bring the round kitchenpot with handles upwards together", + "Grab the kitchenpot for boiling and cooking using both arms", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Use arms to lift the metal kitchenpot upward", + "Both arms lift the medium kitchenpot made of metal upright", + "Place hands on the round kitchenpot with handles, then lift.", + "Raise the medium-sized kitchenpot using both arms", + "Lift the gray cylindrical metal kitchenpot up together", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Hold the cylindrical kitchenpot with both arms", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Hold the kitchenpot with smooth exterior and lift upward", + "Raise the smooth gray kitchenpot securely with arms", + "Grab the medium-sized kitchenpot and lift it up", + "Raise the gray kitchenpot evenly with arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Raise and hold the round kitchenpot with handles together", + "Lift the round kitchenpot with handles upward with both arms", + "Use both arms to raise the gray kitchenpot", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Bring the medium kitchenpot made of metal up together", + "Raise the metal kitchenpot upward with both hands", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Pick up the medium-sized kitchenpot with careful lifting", + "Lift the dark gray stove kitchenpot carefully using arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Lift the round kitchenpot with handles up using your arms", + "Pick up the cylindrical kitchenpot with both arms", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Hold and raise the round kitchenpot with handles together", + "Raise the metal kitchenpot together using arms", + "Raise the gray kitchenpot with strong support", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Grasp the gray kitchenpot and elevate together.", + "Lift the medium-sized kitchenpot using both arms now.", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the kitchenpot with smooth exterior upwards with care", + "Securely lift the medium kitchenpot made of metal together", + "Grab the gray kitchenpot and lift together", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Hold and raise the gray kitchenpot together", + "Lift the metal kitchenpot steadily using arms", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Lift the cooking kitchenpot with side grips steadily with support", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Bring the metal kitchenpot upwards together", + "Grab the cylindrical kitchenpot using both arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Both arms lift the dark gray stove kitchenpot upright", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Raise the cylindrical kitchenpot using both arms", + "Lift the cooking kitchenpot with side grips up together", + "Raise the medium kitchenpot made of metal together with arms", + "Hold the cooking kitchenpot with side grips with both arms", + "Take hold of the smooth gray kitchenpot and lift up", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Hold the metal kitchenpot and lift upward", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Grab the metal kitchenpot and lift it up", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Use both arms to raise the medium-sized kitchenpot", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Bring the metal kitchenpot up together", + "Raise the round kitchenpot with handles upward with both hands" + ], + "unseen": [ + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode31.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e9f3d2469a1089dfd0e28262e4a2fd8af8e1ad --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the kitchenpot with smooth exterior steadily using arms", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Pick up the gray kitchenpot with careful lifting", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Support the cylindrical kitchenpot and raise it upward", + "Grab the dark gray stove kitchenpot and lift together", + "Raise the cylindrical kitchenpot together with arms", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Raise the medium kitchenpot made of metal upward with both hands", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Raise the gray kitchenpot together using arms", + "Bring the kitchenpot for boiling and cooking upwards together", + "Lift the medium-sized kitchenpot using both arms now.", + "Bring the medium kitchenpot made of metal up together", + "Secure the round kitchenpot with handles and lift it up", + "Hold the cooking kitchenpot with side grips and lift upward", + "Lift the medium kitchenpot made of metal up together", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Pick up the cooking kitchenpot with side grips with both arms", + "Lift the round kitchenpot with handles upward with both arms", + "Raise the smooth gray kitchenpot securely with arms", + "Raise the cooking kitchenpot with side grips with strong support", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Engage arms to grip and lift the gray kitchenpot.", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Secure the smooth gray kitchenpot and lift upward.", + "Lift the medium kitchenpot made of metal upwards with care", + "Use arms to lift the medium kitchenpot made of metal upward", + "Both arms lift the medium-sized kitchenpot upright", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Raise the dark gray stove kitchenpot evenly with arms", + "Hold and raise the metal kitchenpot together", + "Securely lift the cooking kitchenpot with side grips together", + "Lift the smooth gray kitchenpot up using your arms", + "Use both arms to raise the round kitchenpot with handles", + "Grab the cylindrical kitchenpot using both arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Raise the medium kitchenpot made of metal using both arms", + "Lift the round kitchenpot with handles carefully using arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Carry the cooking kitchenpot with side grips securely using arms", + "Hold the cooking kitchenpot with side grips with both arms", + "Take hold of the dark gray stove kitchenpot and lift up", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Lift the metal kitchenpot steadily with support", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise and hold the kitchenpot with smooth exterior together", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Hold the metal kitchenpot firmly and move upward.", + "Support the gray kitchenpot and raise it upward", + "Grab the gray kitchenpot and lift together", + "Raise the medium-sized kitchenpot together with arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Raise the dark gray stove kitchenpot upward with both hands", + "Hold the metal kitchenpot firmly and lift it", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Bring the kitchenpot for boiling and cooking upwards together", + "Lift the dark gray stove kitchenpot using both arms now.", + "Bring the cylindrical kitchenpot up together", + "Secure the smooth gray kitchenpot and lift it up", + "Hold the kitchenpot with smooth exterior and lift upward", + "Lift the smooth gray kitchenpot up together", + "Hold the medium-sized kitchenpot firmly with arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Place hands on the cylindrical kitchenpot, then lift.", + "Pick up the smooth gray kitchenpot with both arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Raise the dark gray stove kitchenpot securely with arms", + "Raise the gray kitchenpot with strong support", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Secure the metal kitchenpot and lift upward.", + "Lift the cooking kitchenpot with side grips upwards with care", + "Use arms to lift the dark gray stove kitchenpot upward", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Raise the metal kitchenpot evenly with arms", + "Hold and raise the cylindrical kitchenpot together", + "Securely lift the medium kitchenpot made of metal together", + "Lift the smooth gray kitchenpot up using your arms", + "Use both arms to raise the round kitchenpot with handles", + "Grab the kitchenpot with smooth exterior using both arms", + "Grip the gray kitchenpot firmly and lift", + "Raise the dark gray stove kitchenpot using both arms", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Carry the metal kitchenpot securely using arms", + "Hold the kitchenpot for boiling and cooking with both arms", + "Take hold of the cylindrical kitchenpot and lift up", + "Use both arms to raise the metal kitchenpot.", + "Lift the smooth gray kitchenpot steadily with support", + "Hold and raise the metal kitchenpot together", + "Raise and hold the kitchenpot with smooth exterior together" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode32.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..70f42f19fbecda172120c8068b15b71299459913 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Hold the gray kitchenpot firmly and move upward.", + "Lift the round kitchenpot with handles steadily with support", + "Lift the medium kitchenpot made of metal up using your arms", + "Raise the medium-sized kitchenpot together using arms", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Grasp the metal kitchenpot and elevate together.", + "Raise the cylindrical kitchenpot securely with arms", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Raise and hold the smooth gray kitchenpot together", + "Support the gray kitchenpot and raise it upward", + "Raise the gray kitchenpot upward with both hands", + "Engage arms to grip and lift the gray kitchenpot.", + "Bring the gray kitchenpot upwards together", + "Lift the smooth gray kitchenpot steadily using arms", + "Hold and raise the medium kitchenpot made of metal together", + "Securely lift the cooking kitchenpot with side grips together", + "Grab the medium-sized kitchenpot and lift it up", + "Raise the kitchenpot for boiling and cooking using both arms", + "Hold the smooth gray kitchenpot with both arms", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Hold the metal kitchenpot and lift upward", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Lift the dark gray stove kitchenpot carefully using arms", + "Raise the round kitchenpot with handles evenly with arms", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Hold the cylindrical kitchenpot firmly and lift it", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Take hold of the medium kitchenpot made of metal and lift up", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Hold the smooth gray kitchenpot firmly with arms", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Raise the kitchenpot for boiling and cooking together with arms", + "Grab the metal kitchenpot and lift together", + "Grip the gray kitchenpot firmly and lift", + "Bring the round kitchenpot with handles up together", + "Hold and raise the cylindrical kitchenpot together", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Secure the cylindrical kitchenpot and lift it up", + "Raise the medium kitchenpot made of metal with strong support", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the metal kitchenpot up together", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Grab the medium kitchenpot made of metal using both arms", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Hold the metal kitchenpot firmly and move upward.", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Lift the metal kitchenpot up using your arms", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Use both arms to raise the smooth gray kitchenpot.", + "Grasp the smooth gray kitchenpot and elevate together.", + "Raise the kitchenpot with smooth exterior securely with arms", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Lift the smooth gray kitchenpot upward with both arms", + "Raise and hold the medium kitchenpot made of metal together", + "Support the metal kitchenpot and raise it upward", + "Raise the medium-sized kitchenpot upward with both hands", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Bring the gray kitchenpot upwards together", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Securely lift the medium-sized kitchenpot together", + "Grab the round kitchenpot with handles and lift it up", + "Raise the dark gray stove kitchenpot using both arms", + "Hold the smooth gray kitchenpot with both arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Pick up the cylindrical kitchenpot with careful lifting", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Hold the smooth gray kitchenpot firmly and lift it", + "Raise the round kitchenpot with handles steadily using arms", + "Take hold of the dark gray stove kitchenpot and lift up", + "Place hands on the smooth gray kitchenpot, then lift.", + "Hold the metal kitchenpot firmly with arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Raise the dark gray stove kitchenpot together with arms", + "Grab the medium kitchenpot made of metal and lift together", + "Grip the gray kitchenpot firmly and lift", + "Bring the kitchenpot with smooth exterior up together", + "Hold and raise the cylindrical kitchenpot together", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Both arms lift the smooth gray kitchenpot upright", + "Use both arms to raise the gray kitchenpot", + "Secure the smooth gray kitchenpot and lift it up", + "Raise the gray kitchenpot with strong support", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the kitchenpot with smooth exterior up together", + "Lift the metal kitchenpot using both arms now.", + "Grab the gray kitchenpot using both arms", + "Lift the gray cylindrical metal kitchenpot upwards with care" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode33.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..6c3f0a12f7a848b15ac0d2afa263745e990c9139 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Carry the kitchenpot with smooth exterior securely using arms", + "Grab the gray kitchenpot and lift it up", + "Hold the smooth gray kitchenpot firmly and lift it", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Place hands on the cylindrical kitchenpot, then lift.", + "Grab the dark gray stove kitchenpot using both arms", + "Hold the medium kitchenpot made of metal with both arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Lift the gray cylindrical metal kitchenpot up together", + "Hold and raise the medium kitchenpot made of metal together", + "Raise and hold the medium kitchenpot made of metal together", + "Bring the medium-sized kitchenpot up together", + "Lift the dark gray stove kitchenpot upward and hold it", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Use both arms to raise the dark gray stove kitchenpot.", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Grip the round kitchenpot with handles firmly and lift", + "Securely lift the cylindrical kitchenpot together", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Use both arms to raise the cooking kitchenpot with side grips", + "Pick up the gray kitchenpot with both arms", + "Hold the medium kitchenpot made of metal and lift upward", + "Lift the dark gray stove kitchenpot steadily with support", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Grab the cylindrical kitchenpot and lift together", + "Lift the round kitchenpot with handles up using your arms", + "Raise the metal kitchenpot securely with arms", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Hold and raise the round kitchenpot with handles together", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Raise the smooth gray kitchenpot upward with both hands", + "Secure the metal kitchenpot and lift upward.", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Raise the kitchenpot for boiling and cooking with strong support", + "Lift the dark gray stove kitchenpot using both arms now.", + "Both arms lift the smooth gray kitchenpot upright", + "Raise the kitchenpot for boiling and cooking together with arms", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Raise the gray kitchenpot together using arms", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Raise the metal kitchenpot using both arms", + "Carry the kitchenpot with smooth exterior securely using arms", + "Grab the smooth gray kitchenpot and lift it up", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Hold the round kitchenpot with handles firmly, then lift.", + "Lift the round kitchenpot with handles upwards with care", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Grab the kitchenpot for boiling and cooking using both arms", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Lift the metal kitchenpot upward with both arms", + "Lift the dark gray stove kitchenpot up together", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise and hold the metal kitchenpot together", + "Bring the kitchenpot with smooth exterior up together", + "Lift the dark gray stove kitchenpot upward and hold it", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Secure the kitchenpot with smooth exterior and lift it up", + "Use both arms to raise the dark gray stove kitchenpot.", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Grip the round kitchenpot with handles firmly and lift", + "Securely lift the medium kitchenpot made of metal together", + "Support the dark gray stove kitchenpot and raise it upward", + "Lift the gray kitchenpot steadily using arms", + "Bring the dark gray stove kitchenpot upwards together", + "Use both arms to raise the cooking kitchenpot with side grips", + "Pick up the smooth gray kitchenpot with both arms", + "Hold the cooking kitchenpot with side grips and lift upward", + "Lift the metal kitchenpot steadily with support", + "Raise the dark gray stove kitchenpot evenly with arms", + "Lift the round kitchenpot with handles carefully using both arms.", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Grab the kitchenpot with smooth exterior and lift together", + "Lift the cylindrical kitchenpot up using your arms", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Use arms to lift the smooth gray kitchenpot upward", + "Hold and raise the gray kitchenpot together", + "Raise the smooth gray kitchenpot steadily using arms", + "Pick up the smooth gray kitchenpot with careful lifting", + "Raise the medium-sized kitchenpot upward with both hands", + "Secure the cylindrical kitchenpot and lift upward.", + "With arms, raise the metal kitchenpot upward slowly.", + "Raise the medium-sized kitchenpot with strong support", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Both arms lift the dark gray stove kitchenpot upright", + "Raise the metal kitchenpot together with arms", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Grab the smooth gray kitchenpot and lift it upwards", + "Raise the medium kitchenpot made of metal together using arms", + "Engage arms to grip and lift the metal kitchenpot.", + "Raise the smooth gray kitchenpot using both arms" + ], + "unseen": [ + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode34.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..91c9952f3867e3c9a1af92ef50506d83a5681df7 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the kitchenpot with smooth exterior carefully using arms", + "Both arms lift the cylindrical kitchenpot upright", + "Lift the gray kitchenpot upwards with care", + "Lift the gray kitchenpot steadily with support", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Lift the dark gray stove kitchenpot using both arms now.", + "Lift the medium-sized kitchenpot upward with both arms", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Grab the gray kitchenpot and lift it up", + "Hold and raise the cooking kitchenpot with side grips together", + "Place hands on the metal kitchenpot, then lift.", + "Hold the gray kitchenpot firmly with arms", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Securely lift the dark gray stove kitchenpot together", + "Grab the kitchenpot with smooth exterior and lift together", + "Secure the metal kitchenpot and lift it up", + "Bring the gray kitchenpot upwards together", + "Lift the smooth gray kitchenpot up together", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Lift the cylindrical kitchenpot upward and hold it", + "Use both arms to raise the smooth gray kitchenpot.", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Lift the medium-sized kitchenpot steadily using arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Bring the gray kitchenpot up together", + "Grasp the round kitchenpot with handles and elevate together.", + "Lift the cooking kitchenpot with side grips up using your arms", + "Raise the cooking kitchenpot with side grips together using arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Hold the medium kitchenpot made of metal and lift upward", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Raise the metal kitchenpot together with arms", + "Hold the gray kitchenpot firmly, then lift.", + "Raise the metal kitchenpot evenly with arms", + "Raise and hold the medium kitchenpot made of metal together", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Use both arms to raise the metal kitchenpot", + "Raise the metal kitchenpot steadily using arms", + "Carry the kitchenpot with smooth exterior securely using arms", + "Hold and raise the smooth gray kitchenpot together", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Raise the round kitchenpot with handles securely with arms", + "Support the cylindrical kitchenpot and raise it upward", + "Grab the round kitchenpot with handles using both arms", + "Raise the cooking kitchenpot with side grips with strong support", + "Grip the gray kitchenpot firmly and lift", + "Lift the gray kitchenpot carefully using arms", + "Both arms lift the medium kitchenpot made of metal upright", + "Lift the medium kitchenpot made of metal upwards with care", + "Lift the gray kitchenpot steadily with support", + "Hold the metal kitchenpot with both arms", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Lift the cooking kitchenpot with side grips upward with both arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Pick up the medium kitchenpot made of metal with both arms", + "Grab the round kitchenpot with handles and lift it up", + "Hold and raise the cooking kitchenpot with side grips together", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Hold the cylindrical kitchenpot firmly with arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Pick up the cylindrical kitchenpot with careful lifting", + "Securely lift the round kitchenpot with handles together", + "Grab the round kitchenpot with handles and lift together", + "Secure the cooking kitchenpot with side grips and lift it up", + "Bring the metal kitchenpot upwards together", + "Lift the smooth gray kitchenpot up together", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Lift the metal kitchenpot upward and hold it", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Raise the round kitchenpot with handles using both arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Raise the cylindrical kitchenpot upward with both hands", + "Bring the round kitchenpot with handles up together", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Lift the metal kitchenpot up using your arms", + "Raise the cylindrical kitchenpot together using arms", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Hold the medium kitchenpot made of metal and lift upward", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Raise the medium kitchenpot made of metal together with arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Raise the metal kitchenpot evenly with arms", + "Raise and hold the cylindrical kitchenpot together", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Use arms to lift the medium-sized kitchenpot upward", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Carry the round kitchenpot with handles securely using arms", + "Hold and raise the medium kitchenpot made of metal together", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Raise the dark gray stove kitchenpot securely with arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Grab the gray kitchenpot using both arms", + "Raise the dark gray stove kitchenpot with strong support", + "Grip the dark gray stove kitchenpot firmly and lift" + ], + "unseen": [ + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode35.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..8aa72ccb13f7ec9d72e47a73bfa57a104f4fdc2a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Both arms lift the medium-sized kitchenpot upright", + "Hold the kitchenpot with smooth exterior and lift upward", + "Securely lift the gray kitchenpot together", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Raise the medium kitchenpot made of metal steadily using arms", + "Raise the round kitchenpot with handles together using arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Grab the round kitchenpot with handles and lift it up", + "Raise and hold the gray kitchenpot together", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Raise the medium-sized kitchenpot together with arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the metal kitchenpot up together", + "Grab the kitchenpot with smooth exterior and lift together", + "Use both arms to raise the gray kitchenpot", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Hold and raise the round kitchenpot with handles together", + "Hold the round kitchenpot with handles with both arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Lift the kitchenpot with smooth exterior up using your arms", + "Secure the round kitchenpot with handles and lift upward.", + "Carry the gray kitchenpot securely using arms", + "Bring the dark gray stove kitchenpot upwards together", + "Engage arms to grip and lift the gray kitchenpot.", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Raise the round kitchenpot with handles evenly with arms", + "Grab the kitchenpot with smooth exterior using both arms", + "Lift the metal kitchenpot using both arms now.", + "Pick up the kitchenpot with smooth exterior with both arms", + "Lift the metal kitchenpot steadily using arms", + "Hold the cylindrical kitchenpot firmly and lift it", + "Grasp the metal kitchenpot and elevate together.", + "Bring the kitchenpot with smooth exterior up together", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Lift the medium-sized kitchenpot steadily with support", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Support the medium kitchenpot made of metal and raise it upward", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Grip the smooth gray kitchenpot firmly and lift", + "Raise the metal kitchenpot securely with arms", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Secure the metal kitchenpot and lift it up", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Take hold of the medium-sized kitchenpot and lift up", + "Raise the medium kitchenpot made of metal using both arms", + "Both arms lift the smooth gray kitchenpot upright", + "Hold the kitchenpot with smooth exterior and lift upward", + "Securely lift the medium kitchenpot made of metal together", + "Lift the metal kitchenpot upward and hold it", + "Raise the metal kitchenpot steadily using arms", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Grab the kitchenpot with smooth exterior and lift it up", + "Raise and hold the medium-sized kitchenpot together", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Raise the dark gray stove kitchenpot together with arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Lift the gray cylindrical metal kitchenpot up together", + "Grab the medium kitchenpot made of metal and lift together", + "Use both arms to raise the cylindrical kitchenpot", + "Hold the medium-sized kitchenpot firmly with arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Hold the kitchenpot with smooth exterior with both arms", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Lift the medium kitchenpot made of metal up using your arms", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Carry the round kitchenpot with handles securely using arms", + "Bring the dark gray stove kitchenpot upwards together", + "Engage arms to grip and lift the gray kitchenpot.", + "Use arms to lift the metal kitchenpot upward", + "Raise the medium kitchenpot made of metal evenly with arms", + "Grab the cylindrical kitchenpot using both arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Pick up the gray kitchenpot with both arms", + "Lift the round kitchenpot with handles steadily using arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Grasp the round kitchenpot with handles and elevate together.", + "Bring the smooth gray kitchenpot up together", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Lift the smooth gray kitchenpot steadily with support", + "Lift the gray kitchenpot upwards with care", + "Support the dark gray stove kitchenpot and raise it upward", + "Use both arms to raise the smooth gray kitchenpot.", + "Lift the dark gray stove kitchenpot carefully using arms", + "Lift the medium kitchenpot made of metal upward with both arms", + "Grip the medium-sized kitchenpot firmly and lift", + "Raise the gray kitchenpot securely with arms", + "Raise the smooth gray kitchenpot with strong support", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Secure the dark gray stove kitchenpot and lift it up", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Take hold of the round kitchenpot with handles and lift up", + "Raise the medium kitchenpot made of metal using both arms" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode36.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..0541954756112801bd663b201f5c55ff2f1c68b3 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium-sized kitchenpot and lift upward", + "Raise the cylindrical kitchenpot together using arms", + "Grasp the round kitchenpot with handles and elevate together.", + "Raise the smooth gray kitchenpot upward with both hands", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Hold the metal kitchenpot firmly and move upward.", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Raise the kitchenpot with smooth exterior together with arms", + "Raise the cooking kitchenpot with side grips using both arms", + "Bring the kitchenpot with smooth exterior up together", + "Raise the kitchenpot with smooth exterior with strong support", + "Both arms lift the cooking kitchenpot with side grips upright", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Hold the round kitchenpot with handles with both arms", + "Lift the kitchenpot with smooth exterior up together", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Lift the medium kitchenpot made of metal upwards with care", + "Hold and raise the gray kitchenpot together", + "Lift the medium kitchenpot made of metal up using your arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Support the medium-sized kitchenpot and raise it upward", + "Grab the metal kitchenpot using both arms", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Hold the medium-sized kitchenpot firmly and lift it", + "Lift the dark gray stove kitchenpot steadily using arms", + "Take hold of the smooth gray kitchenpot and lift up", + "Place hands on the metal kitchenpot, then lift.", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Secure the metal kitchenpot and lift upward.", + "Use both arms to raise the smooth gray kitchenpot.", + "Lift the dark gray stove kitchenpot upward with both arms", + "Raise and hold the medium-sized kitchenpot together", + "Lift the metal kitchenpot using both arms now.", + "Pick up the medium kitchenpot made of metal with both arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Grab the round kitchenpot with handles and lift it upwards", + "Carry the cylindrical kitchenpot securely using arms", + "Raise the medium kitchenpot made of metal evenly with arms", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Securely lift the dark gray stove kitchenpot together", + "Secure the round kitchenpot with handles and lift it up", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Bring the round kitchenpot with handles upwards together", + "Grip the metal kitchenpot firmly and lift", + "Grab the medium kitchenpot made of metal and lift it up", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Raise the medium-sized kitchenpot steadily using arms", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Hold the round kitchenpot with handles firmly with arms", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Hold the cylindrical kitchenpot and lift upward", + "Raise the round kitchenpot with handles together using arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Use both arms to raise the medium-sized kitchenpot", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Use arms to lift the smooth gray kitchenpot upward", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Raise the gray kitchenpot using both arms", + "Bring the cylindrical kitchenpot up together", + "Raise the cooking kitchenpot with side grips with strong support", + "Both arms lift the smooth gray kitchenpot upright", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Hold the medium-sized kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking up together", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Lift the medium kitchenpot made of metal upwards with care", + "Hold and raise the smooth gray kitchenpot together", + "Lift the smooth gray kitchenpot up using your arms", + "Grab the kitchenpot with smooth exterior and lift together", + "Support the round kitchenpot with handles and raise it upward", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Raise the round kitchenpot with handles securely with arms", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Take hold of the smooth gray kitchenpot and lift up", + "Place hands on the smooth gray kitchenpot, then lift.", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Secure the dark gray stove kitchenpot and lift upward.", + "Use both arms to raise the smooth gray kitchenpot.", + "Lift the dark gray stove kitchenpot upward with both arms", + "Raise and hold the cylindrical kitchenpot together", + "Lift the medium-sized kitchenpot using both arms now.", + "Pick up the gray kitchenpot with both arms", + "Hold and raise the cylindrical kitchenpot together", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Raise the medium kitchenpot made of metal evenly with arms", + "Lift the metal kitchenpot steadily with support", + "Securely lift the kitchenpot with smooth exterior together", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Bring the metal kitchenpot upwards together", + "Grip the metal kitchenpot firmly and lift", + "Grab the smooth gray kitchenpot and lift it up", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Raise the gray kitchenpot steadily using arms", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Hold the kitchenpot with smooth exterior firmly with arms", + "With arms, raise the cylindrical kitchenpot upward slowly." + ], + "unseen": [ + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode37.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..85b47125260e4e590d9c3a514260a3bf841d727d --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the medium-sized kitchenpot up using your arms", + "Raise the metal kitchenpot together using arms", + "Raise and hold the dark gray stove kitchenpot together", + "Use both arms to raise the medium-sized kitchenpot.", + "Raise the dark gray stove kitchenpot upward with both hands", + "Hold and raise the dark gray stove kitchenpot together", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Lift the medium kitchenpot made of metal carefully using arms", + "Grab the dark gray stove kitchenpot and lift together", + "Securely lift the gray kitchenpot together", + "Use both arms to raise the cylindrical kitchenpot", + "Lift the gray kitchenpot up together", + "Support the kitchenpot with smooth exterior and raise it upward", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Pick up the round kitchenpot with handles with careful lifting", + "Grab the cylindrical kitchenpot using both arms", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Hold and raise the dark gray stove kitchenpot together", + "Raise the gray kitchenpot with strong support", + "Lift the round kitchenpot with handles using both arms now.", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Pick up the dark gray stove kitchenpot with both arms", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Grab the round kitchenpot with handles and lift it upwards", + "Take hold of the cylindrical kitchenpot and lift up", + "Grab the medium kitchenpot made of metal and lift it up", + "Lift the medium kitchenpot made of metal steadily using arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Grasp the round kitchenpot with handles and elevate together.", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Lift the kitchenpot with smooth exterior steadily with support", + "Use arms to lift the metal kitchenpot upward", + "Grip the gray kitchenpot firmly and lift", + "Raise the medium kitchenpot made of metal securely with arms", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Secure the smooth gray kitchenpot and lift upward.", + "Hold the metal kitchenpot and lift upward", + "Bring the kitchenpot for boiling and cooking up together", + "Carry the round kitchenpot with handles securely using arms", + "Lift the metal kitchenpot upward with both arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Bring the smooth gray kitchenpot upwards together", + "Secure the metal kitchenpot and lift it up", + "Raise the medium-sized kitchenpot together with arms", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Hold the cooking kitchenpot with side grips with both arms", + "Lift the smooth gray kitchenpot up using your arms", + "Raise the smooth gray kitchenpot together using arms", + "Raise and hold the medium kitchenpot made of metal together", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Raise the cylindrical kitchenpot upward with both hands", + "Hold and raise the dark gray stove kitchenpot together", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Lift the metal kitchenpot carefully using arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Securely lift the kitchenpot with smooth exterior together", + "Use both arms to raise the cylindrical kitchenpot", + "Lift the medium kitchenpot made of metal up together", + "Support the cooking kitchenpot with side grips and raise it upward", + "Lift the cylindrical kitchenpot upward and hold it", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Grab the metal kitchenpot using both arms", + "Both arms lift the medium kitchenpot made of metal upright", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the smooth gray kitchenpot with strong support", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Hold the round kitchenpot with handles firmly with arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Pick up the medium kitchenpot made of metal with both arms", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Take hold of the cylindrical kitchenpot and lift up", + "Grab the cooking kitchenpot with side grips and lift it up", + "Lift the round kitchenpot with handles steadily using arms", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Raise the round kitchenpot with handles steadily using arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Lift the smooth gray kitchenpot upwards with care", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Lift the medium kitchenpot made of metal steadily with support", + "Use arms to lift the medium-sized kitchenpot upward", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Raise the kitchenpot with smooth exterior securely with arms", + "Raise the dark gray stove kitchenpot using both arms", + "Place hands on the cylindrical kitchenpot, then lift.", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Bring the gray cylindrical metal kitchenpot up together", + "Carry the metal kitchenpot securely using arms", + "Lift the smooth gray kitchenpot upward with both arms", + "Raise the smooth gray kitchenpot evenly with arms", + "Bring the medium kitchenpot made of metal upwards together", + "Secure the medium kitchenpot made of metal and lift it up", + "Raise the metal kitchenpot together with arms", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Hold the medium-sized kitchenpot with both arms" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode38.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..bc4a0db5b5d158366b63037122cdc95341ff3ea9 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use both arms to raise the smooth gray kitchenpot", + "Hold the round kitchenpot with handles firmly and move upward.", + "Lift the gray kitchenpot using both arms now.", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Securely lift the gray cylindrical metal kitchenpot together", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Raise the medium-sized kitchenpot steadily using arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Both arms lift the dark gray stove kitchenpot upright", + "Raise and hold the cooking kitchenpot with side grips together", + "Place hands on the gray kitchenpot, then lift.", + "Raise the dark gray stove kitchenpot with strong support", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Grab the cylindrical kitchenpot and lift it upwards", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Take hold of the gray kitchenpot and lift up", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Raise the gray kitchenpot upward with both hands", + "Secure the gray kitchenpot and lift upward.", + "Hold the gray kitchenpot firmly, then lift.", + "Lift the cooking kitchenpot with side grips steadily with support", + "Grab the round kitchenpot with handles using both arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Bring the round kitchenpot with handles up together", + "Raise the cooking kitchenpot with side grips together using arms", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Pick up the cylindrical kitchenpot with both arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Hold the kitchenpot with smooth exterior and lift upward", + "Grab the gray kitchenpot and lift together", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Hold the kitchenpot for boiling and cooking with both arms", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Lift the medium kitchenpot made of metal carefully using arms", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Support the medium kitchenpot made of metal and raise it upward", + "Raise the medium-sized kitchenpot together with arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Lift the cylindrical kitchenpot upwards with care", + "Hold the gray kitchenpot firmly and lift it", + "Raise the dark gray stove kitchenpot using both arms", + "Bring the cylindrical kitchenpot upwards together", + "Lift the dark gray stove kitchenpot up together", + "Grab the cylindrical kitchenpot and lift it up", + "Pick up the cylindrical kitchenpot with careful lifting", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Hold and raise the cylindrical kitchenpot together", + "Grasp the round kitchenpot with handles and elevate together.", + "Use both arms to raise the metal kitchenpot", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Lift the medium-sized kitchenpot using both arms now.", + "Engage arms to grip and lift the gray kitchenpot.", + "Securely lift the cylindrical kitchenpot together", + "Use both arms to raise the metal kitchenpot.", + "Raise the gray kitchenpot steadily using arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the gray kitchenpot steadily using arms", + "Both arms lift the medium-sized kitchenpot upright", + "Raise and hold the kitchenpot with smooth exterior together", + "Place hands on the smooth gray kitchenpot, then lift.", + "Raise the medium-sized kitchenpot with strong support", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Raise the smooth gray kitchenpot securely with arms", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Take hold of the medium kitchenpot made of metal and lift up", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Raise the medium kitchenpot made of metal upward with both hands", + "Secure the dark gray stove kitchenpot and lift upward.", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Lift the dark gray stove kitchenpot steadily with support", + "Grab the gray kitchenpot using both arms", + "Raise the round kitchenpot with handles evenly with arms", + "Bring the cooking kitchenpot with side grips up together", + "Raise the medium kitchenpot made of metal together using arms", + "Use arms to lift the medium kitchenpot made of metal upward", + "Pick up the metal kitchenpot with both arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Hold the gray kitchenpot and lift upward", + "Grab the kitchenpot for boiling and cooking and lift together", + "Carry the dark gray stove kitchenpot securely using arms", + "Hold the medium kitchenpot made of metal with both arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Secure the gray kitchenpot and lift it up", + "Support the gray kitchenpot and raise it upward", + "Raise the smooth gray kitchenpot together with arms", + "Lift the smooth gray kitchenpot upward and hold it", + "Lift the gray kitchenpot upwards with care", + "Hold the smooth gray kitchenpot firmly and lift it", + "Raise the kitchenpot for boiling and cooking using both arms", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Lift the medium kitchenpot made of metal up together", + "Grab the medium kitchenpot made of metal and lift it up", + "Pick up the smooth gray kitchenpot with careful lifting", + "Lift the metal kitchenpot up using your arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Grasp the dark gray stove kitchenpot and elevate together." + ], + "unseen": [ + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode39.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..9ef1e4d712f02fb17adb9415dfb4a53d71350464 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the smooth gray kitchenpot firmly and lift it", + "Bring the kitchenpot for boiling and cooking upwards together", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Grip the medium-sized kitchenpot firmly and lift", + "Bring the medium kitchenpot made of metal up together", + "Hold and raise the cooking kitchenpot with side grips together", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Grab the cooking kitchenpot with side grips and lift together", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Carry the medium-sized kitchenpot securely using arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Lift the kitchenpot for boiling and cooking up together", + "Use both arms to raise the medium kitchenpot made of metal.", + "Pick up the round kitchenpot with handles with both arms", + "Raise the medium kitchenpot made of metal with strong support", + "Securely lift the smooth gray kitchenpot together", + "Lift the kitchenpot with smooth exterior up using your arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Raise the kitchenpot with smooth exterior evenly with arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Grab the round kitchenpot with handles using both arms", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Hold the round kitchenpot with handles with both arms", + "Hold the smooth gray kitchenpot and lift upward", + "Lift the dark gray stove kitchenpot upward and hold it", + "Use both arms to raise the round kitchenpot with handles", + "Raise and hold the dark gray stove kitchenpot together", + "Raise the medium kitchenpot made of metal together with arms", + "Raise the cylindrical kitchenpot securely with arms", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Lift the metal kitchenpot upwards with care", + "Lift the medium-sized kitchenpot using both arms now.", + "Both arms lift the gray kitchenpot upright", + "Hold the gray kitchenpot firmly, then lift.", + "Engage arms to grip and lift the metal kitchenpot.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Lift the smooth gray kitchenpot carefully using arms", + "Raise the medium kitchenpot made of metal using both arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Hold the gray kitchenpot firmly with arms", + "Raise the cylindrical kitchenpot together using arms", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Bring the medium-sized kitchenpot upwards together", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Bring the cooking kitchenpot with side grips up together", + "Hold and raise the medium kitchenpot made of metal together", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Raise the metal kitchenpot upward with both hands", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Support the dark gray stove kitchenpot and raise it upward", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Grab the gray kitchenpot and lift together", + "Lift the round kitchenpot with handles steadily using arms", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the round kitchenpot with handles upward with both arms", + "Hold and raise the gray kitchenpot together", + "Secure the gray kitchenpot and lift upward.", + "Lift the smooth gray kitchenpot steadily with support", + "Lift the gray cylindrical metal kitchenpot up together", + "Use both arms to raise the round kitchenpot with handles.", + "Pick up the dark gray stove kitchenpot with both arms", + "Raise the gray kitchenpot with strong support", + "Securely lift the cylindrical kitchenpot together", + "Lift the medium kitchenpot made of metal up using your arms", + "Secure the cooking kitchenpot with side grips and lift it up", + "Raise the medium-sized kitchenpot evenly with arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Grab the medium-sized kitchenpot using both arms", + "Pick up the cylindrical kitchenpot with careful lifting", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Lift the smooth gray kitchenpot upward and hold it", + "Use both arms to raise the round kitchenpot with handles", + "Raise and hold the medium-sized kitchenpot together", + "Raise the metal kitchenpot together with arms", + "Raise the gray kitchenpot securely with arms", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Lift the cylindrical kitchenpot upwards with care", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Both arms lift the medium-sized kitchenpot upright", + "Hold the gray kitchenpot firmly, then lift.", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Use arms to lift the gray kitchenpot upward", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Raise the dark gray stove kitchenpot using both arms", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Hold the smooth gray kitchenpot firmly with arms", + "Raise the medium kitchenpot made of metal together using arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode4.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..277e1de9c6705c2818ae8f043ced5e5c0ad940ee --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray kitchenpot steadily with support", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Take hold of the dark gray stove kitchenpot and lift up", + "Lift the medium kitchenpot made of metal upwards with care", + "Raise and hold the kitchenpot with smooth exterior together", + "Raise the round kitchenpot with handles securely with arms", + "Grab the gray kitchenpot using both arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Raise the kitchenpot with smooth exterior with strong support", + "Lift the round kitchenpot with handles upward and hold it", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Grab the smooth gray kitchenpot and lift it upwards", + "Grab the kitchenpot with smooth exterior and lift it up", + "Lift the medium kitchenpot made of metal upward with both arms", + "Grab the gray kitchenpot and lift together", + "Use both arms to raise the kitchenpot with smooth exterior", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Grip the smooth gray kitchenpot firmly and lift", + "Raise the medium-sized kitchenpot upward with both hands", + "Lift the kitchenpot with smooth exterior up using your arms", + "Bring the medium kitchenpot made of metal upwards together", + "Use arms to lift the metal kitchenpot upward", + "Support the cylindrical kitchenpot and raise it upward", + "Hold the metal kitchenpot with both arms", + "Place hands on the cylindrical kitchenpot, then lift.", + "Carry the metal kitchenpot securely using arms", + "Raise the dark gray stove kitchenpot together using arms", + "Raise the medium kitchenpot made of metal together with arms", + "Hold and raise the medium kitchenpot made of metal together", + "Bring the gray kitchenpot up together", + "Hold the round kitchenpot with handles and lift upward", + "Securely lift the metal kitchenpot together", + "Lift the medium kitchenpot made of metal carefully using arms", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Lift the medium kitchenpot made of metal up together", + "Grasp the metal kitchenpot and elevate together.", + "Raise the gray kitchenpot steadily using arms", + "Raise the gray kitchenpot using both arms", + "Both arms lift the metal kitchenpot upright", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Pick up the medium kitchenpot made of metal with both arms", + "Hold the gray kitchenpot firmly with arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Lift the medium-sized kitchenpot steadily using arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Take hold of the smooth gray kitchenpot and lift up", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Raise and hold the gray kitchenpot together", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Grab the kitchenpot for boiling and cooking using both arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Raise the metal kitchenpot with strong support", + "Lift the metal kitchenpot upward and hold it", + "Secure the round kitchenpot with handles and lift upward.", + "Grab the cylindrical kitchenpot and lift it upwards", + "Grab the medium kitchenpot made of metal and lift it up", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Grab the medium-sized kitchenpot and lift together", + "Use both arms to raise the cooking kitchenpot with side grips", + "Secure the dark gray stove kitchenpot and lift it up", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Hold the gray kitchenpot firmly and lift it", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Raise the smooth gray kitchenpot upward with both hands", + "Lift the round kitchenpot with handles up using your arms", + "Bring the medium-sized kitchenpot upwards together", + "Use arms to lift the medium-sized kitchenpot upward", + "Support the kitchenpot with smooth exterior and raise it upward", + "Hold the kitchenpot for boiling and cooking with both arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Carry the round kitchenpot with handles securely using arms", + "Raise the cooking kitchenpot with side grips together using arms", + "Raise the round kitchenpot with handles together with arms", + "Hold and raise the metal kitchenpot together", + "Bring the round kitchenpot with handles up together", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Securely lift the metal kitchenpot together", + "Lift the dark gray stove kitchenpot carefully using arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Lift the medium kitchenpot made of metal up together", + "Grasp the smooth gray kitchenpot and elevate together.", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Raise the gray kitchenpot using both arms", + "Both arms lift the medium-sized kitchenpot upright", + "Raise the cylindrical kitchenpot evenly with arms", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Pick up the dark gray stove kitchenpot with both arms", + "Hold the metal kitchenpot firmly with arms", + "Hold and raise the kitchenpot for boiling and cooking together" + ], + "unseen": [ + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode40.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..8aca4e80950482a7bfc8bb4d9b49996456049182 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the smooth gray kitchenpot with both arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Lift the dark gray stove kitchenpot using both arms now.", + "Grip the gray kitchenpot firmly and lift", + "Carry the medium-sized kitchenpot securely using arms", + "Raise the smooth gray kitchenpot using both arms", + "Raise the dark gray stove kitchenpot evenly with arms", + "Secure the medium-sized kitchenpot and lift upward.", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Pick up the gray kitchenpot with both arms", + "Lift the dark gray stove kitchenpot carefully using arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Both arms lift the medium kitchenpot made of metal upright", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Lift the kitchenpot with smooth exterior steadily with support", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Securely lift the gray cylindrical metal kitchenpot together", + "Grab the round kitchenpot with handles and lift it up", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the dark gray stove kitchenpot securely with arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Lift the medium kitchenpot made of metal up using your arms", + "Bring the smooth gray kitchenpot up together", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Bring the round kitchenpot with handles upwards together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Lift the medium kitchenpot made of metal upwards with care", + "Raise the smooth gray kitchenpot with strong support", + "Lift the metal kitchenpot up together", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Place hands on the round kitchenpot with handles, then lift.", + "Use both arms to raise the metal kitchenpot", + "Raise the gray kitchenpot upward with both hands", + "Raise and hold the kitchenpot with smooth exterior together", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Grab the metal kitchenpot and lift together", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Raise the medium kitchenpot made of metal together with arms", + "Secure the dark gray stove kitchenpot and lift it up", + "Lift the smooth gray kitchenpot steadily using arms", + "Raise the smooth gray kitchenpot together using arms", + "Take hold of the medium-sized kitchenpot and lift up", + "Grasp the gray kitchenpot and elevate together.", + "Grab the metal kitchenpot using both arms", + "Hold the cooking kitchenpot with side grips and lift upward", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Hold the cylindrical kitchenpot firmly and lift it", + "Hold the smooth gray kitchenpot with both arms", + "Hold the metal kitchenpot firmly and move upward.", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Grip the cylindrical kitchenpot firmly and lift", + "Carry the medium-sized kitchenpot securely using arms", + "Raise the round kitchenpot with handles using both arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Secure the smooth gray kitchenpot and lift upward.", + "Use both arms to raise the metal kitchenpot.", + "Pick up the metal kitchenpot with both arms", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Hold and raise the cylindrical kitchenpot together", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Raise the medium kitchenpot made of metal steadily using arms", + "Support the cylindrical kitchenpot and raise it upward", + "Hold the round kitchenpot with handles firmly, then lift.", + "Lift the round kitchenpot with handles steadily with support", + "Grab the gray kitchenpot and lift it upwards", + "Securely lift the metal kitchenpot together", + "Grab the round kitchenpot with handles and lift it up", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Lift the kitchenpot with smooth exterior up using your arms", + "Bring the smooth gray kitchenpot up together", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Lift the medium kitchenpot made of metal upwards with care", + "Raise the cooking kitchenpot with side grips with strong support", + "Lift the cylindrical kitchenpot up together", + "Pick up the smooth gray kitchenpot with careful lifting", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Use both arms to raise the smooth gray kitchenpot", + "Raise the gray kitchenpot upward with both hands", + "Raise and hold the kitchenpot with smooth exterior together", + "Use arms to lift the metal kitchenpot upward", + "Grab the cylindrical kitchenpot and lift together", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Raise the medium kitchenpot made of metal together with arms", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Lift the gray kitchenpot steadily using arms", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Take hold of the gray kitchenpot and lift up", + "Grasp the gray kitchenpot and elevate together.", + "Grab the cooking kitchenpot with side grips using both arms", + "Hold the medium kitchenpot made of metal and lift upward", + "Hold the smooth gray kitchenpot firmly with arms", + "Hold the smooth gray kitchenpot firmly and lift it" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode41.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..ce1dd3b21336df98dcf99d30bbbc54fb83f1c9fe --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium-sized kitchenpot and lift it upwards", + "Hold and raise the round kitchenpot with handles together", + "Lift the cylindrical kitchenpot up using your arms", + "Lift the dark gray stove kitchenpot steadily using arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Bring the gray kitchenpot up together", + "Hold the kitchenpot with smooth exterior and lift upward", + "Hold the smooth gray kitchenpot firmly and lift it", + "Take hold of the smooth gray kitchenpot and lift up", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Pick up the round kitchenpot with handles with careful lifting", + "Raise the medium-sized kitchenpot upward with both hands", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Raise the medium kitchenpot made of metal with strong support", + "Grab the round kitchenpot with handles using both arms", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Both arms lift the kitchenpot with smooth exterior upright", + "Raise the metal kitchenpot evenly with arms", + "Bring the metal kitchenpot upwards together", + "Raise the smooth gray kitchenpot steadily using arms", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Lift the gray kitchenpot carefully using both arms.", + "Raise the metal kitchenpot together with arms", + "Lift the cooking kitchenpot with side grips up together", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Securely lift the metal kitchenpot together", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Raise and hold the gray kitchenpot together", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Grab the medium kitchenpot made of metal and lift together", + "Pick up the cylindrical kitchenpot with both arms", + "Use arms to lift the metal kitchenpot upward", + "Hold the gray kitchenpot firmly with arms", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Raise the dark gray stove kitchenpot using both arms", + "Lift the cylindrical kitchenpot upwards with care", + "Raise the round kitchenpot with handles securely with arms", + "Support the gray kitchenpot and raise it upward", + "Carry the dark gray stove kitchenpot securely using arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Use both arms to raise the smooth gray kitchenpot", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Hold the medium kitchenpot made of metal with both arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Lift the metal kitchenpot using both arms now.", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Lift the smooth gray kitchenpot carefully using arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Grab the medium-sized kitchenpot and lift it upwards", + "Hold and raise the cylindrical kitchenpot together", + "Lift the cylindrical kitchenpot up using your arms", + "Lift the medium-sized kitchenpot steadily using arms", + "Engage arms to grip and lift the metal kitchenpot.", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Hold the gray kitchenpot firmly and move upward.", + "Bring the gray cylindrical metal kitchenpot up together", + "Hold the dark gray stove kitchenpot and lift upward", + "Hold the metal kitchenpot firmly and lift it", + "Take hold of the dark gray stove kitchenpot and lift up", + "Hold and raise the medium kitchenpot made of metal together", + "Pick up the round kitchenpot with handles with careful lifting", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Raise the kitchenpot for boiling and cooking with strong support", + "Grab the cooking kitchenpot with side grips using both arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Both arms lift the medium-sized kitchenpot upright", + "Raise the round kitchenpot with handles evenly with arms", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Grab the gray kitchenpot and lift it up", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Raise the kitchenpot for boiling and cooking together with arms", + "Lift the dark gray stove kitchenpot up together", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Securely lift the round kitchenpot with handles together", + "Secure the medium-sized kitchenpot and lift it up", + "Raise and hold the medium-sized kitchenpot together", + "Grip the metal kitchenpot firmly and lift", + "Grab the gray kitchenpot and lift together", + "Pick up the cooking kitchenpot with side grips with both arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Hold the medium-sized kitchenpot firmly with arms", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Raise the kitchenpot for boiling and cooking using both arms", + "Lift the kitchenpot with smooth exterior upwards with care", + "Raise the medium kitchenpot made of metal securely with arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Carry the cylindrical kitchenpot securely using arms", + "Secure the gray kitchenpot and lift upward.", + "Use both arms to raise the cooking kitchenpot with side grips", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Lift the medium-sized kitchenpot using both arms now.", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Lift the dark gray stove kitchenpot carefully using arms", + "Use both arms to raise the gray kitchenpot." + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode42.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..61e0803af2a0329b353e28b7963926f50f981767 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Grasp the metal kitchenpot and elevate together.", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the smooth gray kitchenpot upward with both arms", + "Hold the medium kitchenpot made of metal and lift upward", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Securely lift the dark gray stove kitchenpot together", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise the gray kitchenpot using both arms", + "Lift the dark gray stove kitchenpot up using your arms", + "Use both arms to raise the round kitchenpot with handles", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Grab the dark gray stove kitchenpot using both arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Lift the smooth gray kitchenpot upwards with care", + "Hold and raise the gray kitchenpot together", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Raise the cylindrical kitchenpot with strong support", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Use arms to lift the medium kitchenpot made of metal upward", + "Lift the metal kitchenpot up together", + "Hold the metal kitchenpot firmly and lift it", + "Lift the cylindrical kitchenpot steadily with support", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Raise the kitchenpot with smooth exterior together using arms", + "Raise the dark gray stove kitchenpot securely with arms", + "Raise the metal kitchenpot steadily using arms", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Grab the gray kitchenpot and lift it up", + "Lift the smooth gray kitchenpot upward and hold it", + "Lift the round kitchenpot with handles carefully using arms", + "Secure the medium-sized kitchenpot and lift it up", + "Bring the smooth gray kitchenpot upwards together", + "Hold the dark gray stove kitchenpot with both arms", + "Use both arms to raise the medium kitchenpot made of metal.", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Bring the kitchenpot for boiling and cooking up together", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Raise the smooth gray kitchenpot upward with both hands", + "Grip the dark gray stove kitchenpot firmly and lift", + "Lift the dark gray stove kitchenpot using both arms now.", + "Hold and raise the medium kitchenpot made of metal together", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Raise the dark gray stove kitchenpot together with arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Grasp the metal kitchenpot and elevate together.", + "Carry the dark gray stove kitchenpot securely using arms", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Hold the smooth gray kitchenpot and lift upward", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Securely lift the round kitchenpot with handles together", + "Raise the medium kitchenpot made of metal evenly with arms", + "Raise the cylindrical kitchenpot using both arms", + "Lift the dark gray stove kitchenpot up using your arms", + "Use both arms to raise the smooth gray kitchenpot", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Grab the kitchenpot for boiling and cooking using both arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Hold and raise the medium kitchenpot made of metal together", + "Support the smooth gray kitchenpot and raise it upward", + "Raise the kitchenpot for boiling and cooking with strong support", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Hold the medium-sized kitchenpot firmly with arms", + "Use arms to lift the metal kitchenpot upward", + "Lift the metal kitchenpot up together", + "Hold the medium-sized kitchenpot firmly and lift it", + "Lift the cooking kitchenpot with side grips steadily with support", + "Take hold of the gray kitchenpot and lift up", + "Raise the metal kitchenpot together using arms", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Grab the kitchenpot with smooth exterior and lift together", + "Raise and hold the cooking kitchenpot with side grips together", + "Grab the kitchenpot with smooth exterior and lift it up", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Lift the metal kitchenpot carefully using arms", + "Secure the dark gray stove kitchenpot and lift it up", + "Bring the kitchenpot with smooth exterior upwards together", + "Hold the smooth gray kitchenpot with both arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Lift the cylindrical kitchenpot steadily using arms", + "Bring the smooth gray kitchenpot up together", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Both arms lift the dark gray stove kitchenpot upright", + "Raise the cylindrical kitchenpot upward with both hands", + "Grip the medium kitchenpot made of metal firmly and lift", + "Lift the medium-sized kitchenpot using both arms now.", + "Hold and raise the cylindrical kitchenpot together", + "Secure the medium kitchenpot made of metal and lift upward.", + "Raise the metal kitchenpot together with arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode43.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..be6fcccde0fa9493fecd17be322cac1ee07751b1 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the round kitchenpot with handles upward with both arms", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Hold and raise the cylindrical kitchenpot together", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Hold and raise the gray kitchenpot together", + "Securely lift the round kitchenpot with handles together", + "Lift the cylindrical kitchenpot upward and hold it", + "Raise and hold the dark gray stove kitchenpot together", + "Use both arms to raise the gray kitchenpot.", + "Raise the dark gray stove kitchenpot upward with both hands", + "Grab the gray kitchenpot using both arms", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Raise the smooth gray kitchenpot evenly with arms", + "Raise the dark gray stove kitchenpot steadily using arms", + "Grab the kitchenpot with smooth exterior and lift it up", + "Grab the cooking kitchenpot with side grips and lift together", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Support the smooth gray kitchenpot and raise it upward", + "Lift the gray kitchenpot using both arms now.", + "Bring the cooking kitchenpot with side grips up together", + "Both arms lift the round kitchenpot with handles upright", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Lift the gray kitchenpot up using your arms", + "Lift the gray kitchenpot carefully using both arms.", + "Grasp the gray kitchenpot and elevate together.", + "Lift the smooth gray kitchenpot upwards with care", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Grab the metal kitchenpot and lift it upwards", + "Lift the smooth gray kitchenpot carefully using arms", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Raise the medium kitchenpot made of metal securely with arms", + "Secure the gray kitchenpot and lift upward.", + "Bring the cylindrical kitchenpot upwards together", + "Lift the medium kitchenpot made of metal up together", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Raise the dark gray stove kitchenpot with strong support", + "Raise the kitchenpot for boiling and cooking using both arms", + "Hold the medium kitchenpot made of metal with both arms", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Take hold of the round kitchenpot with handles and lift up", + "Lift the medium kitchenpot made of metal steadily with support", + "Use arms to lift the medium kitchenpot made of metal upward", + "Raise the cooking kitchenpot with side grips together with arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "Pick up the cylindrical kitchenpot with both arms", + "Lift the round kitchenpot with handles steadily using arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Hold the gray kitchenpot firmly and move upward.", + "Hold and raise the kitchenpot for boiling and cooking together", + "Hold the cylindrical kitchenpot firmly with arms", + "Hold and raise the medium kitchenpot made of metal together", + "Securely lift the metal kitchenpot together", + "Lift the medium-sized kitchenpot upward and hold it", + "Raise and hold the medium-sized kitchenpot together", + "Use both arms to raise the gray kitchenpot.", + "Raise the smooth gray kitchenpot upward with both hands", + "Grab the medium-sized kitchenpot using both arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Raise the round kitchenpot with handles evenly with arms", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Grab the medium kitchenpot made of metal and lift it up", + "Grab the metal kitchenpot and lift together", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Support the medium kitchenpot made of metal and raise it upward", + "Lift the cylindrical kitchenpot using both arms now.", + "Bring the cylindrical kitchenpot up together", + "Both arms lift the medium kitchenpot made of metal upright", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Lift the medium kitchenpot made of metal up using your arms", + "Lift the metal kitchenpot carefully using both arms.", + "Grasp the metal kitchenpot and elevate together.", + "Lift the round kitchenpot with handles upwards with care", + "Carry the medium-sized kitchenpot securely using arms", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Lift the medium kitchenpot made of metal carefully using arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Raise the gray kitchenpot together using arms", + "Secure the metal kitchenpot and lift it up", + "Raise the cylindrical kitchenpot securely with arms", + "Secure the smooth gray kitchenpot and lift upward.", + "Bring the metal kitchenpot upwards together", + "Lift the dark gray stove kitchenpot up together", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Raise the medium kitchenpot made of metal with strong support", + "Raise the metal kitchenpot using both arms", + "Hold the cylindrical kitchenpot with both arms", + "Hold the cooking kitchenpot with side grips and lift upward", + "Take hold of the cylindrical kitchenpot and lift up", + "Lift the medium kitchenpot made of metal steadily with support", + "Use arms to lift the cylindrical kitchenpot upward", + "Raise the metal kitchenpot together with arms", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Pick up the smooth gray kitchenpot with both arms", + "Lift the cooking kitchenpot with side grips steadily using arms" + ], + "unseen": [ + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode44.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..93dbe69f7f18820409a0c67838f8e8256ddf86fc --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Hold the kitchenpot with smooth exterior with both arms", + "Hold and raise the round kitchenpot with handles together", + "Lift the medium kitchenpot made of metal upward with both arms", + "Carry the medium kitchenpot made of metal securely using arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Take hold of the medium-sized kitchenpot and lift up", + "Lift the gray kitchenpot using both arms now.", + "Use both arms to raise the round kitchenpot with handles", + "Secure the metal kitchenpot and lift it up", + "Secure the round kitchenpot with handles and lift upward.", + "Raise the cooking kitchenpot with side grips together with arms", + "Both arms lift the dark gray stove kitchenpot upright", + "Lift the round kitchenpot with handles carefully using arms", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Lift the cylindrical kitchenpot up using your arms", + "Lift the dark gray stove kitchenpot up together", + "Grab the dark gray stove kitchenpot using both arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Raise the medium-sized kitchenpot upward with both hands", + "Raise the cylindrical kitchenpot securely with arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Lift the round kitchenpot with handles steadily using arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Bring the gray cylindrical metal kitchenpot up together", + "Pick up the cylindrical kitchenpot with both arms", + "Securely lift the round kitchenpot with handles together", + "Hold the medium kitchenpot made of metal and lift upward", + "Use both arms to raise the round kitchenpot with handles.", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Grab the gray kitchenpot and lift it upwards", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Raise the kitchenpot with smooth exterior with strong support", + "Support the kitchenpot with smooth exterior and raise it upward", + "Place hands on the metal kitchenpot, then lift.", + "Hold the round kitchenpot with handles firmly with arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Raise the kitchenpot with smooth exterior together using arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Raise the medium kitchenpot made of metal using both arms", + "Hold the gray kitchenpot firmly and move upward.", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Grab the kitchenpot for boiling and cooking and lift together", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Grab the smooth gray kitchenpot and lift it up", + "Lift the cooking kitchenpot with side grips upwards with care", + "Hold the medium-sized kitchenpot firmly and lift it", + "Hold the kitchenpot with smooth exterior with both arms", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Carry the smooth gray kitchenpot securely using arms", + "Bring the medium-sized kitchenpot upwards together", + "Take hold of the metal kitchenpot and lift up", + "Lift the medium kitchenpot made of metal using both arms now.", + "Use both arms to raise the dark gray stove kitchenpot", + "Secure the gray kitchenpot and lift it up", + "Secure the cylindrical kitchenpot and lift upward.", + "Raise the kitchenpot for boiling and cooking together with arms", + "Both arms lift the medium kitchenpot made of metal upright", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Lift the kitchenpot with smooth exterior up using your arms", + "Lift the dark gray stove kitchenpot up together", + "Grab the medium-sized kitchenpot using both arms", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Raise the smooth gray kitchenpot securely with arms", + "Lift the metal kitchenpot steadily with support", + "Lift the round kitchenpot with handles steadily using arms", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Hold and raise the gray kitchenpot together", + "Bring the smooth gray kitchenpot up together", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Securely lift the gray cylindrical metal kitchenpot together", + "Hold the kitchenpot with smooth exterior and lift upward", + "Use both arms to raise the medium kitchenpot made of metal.", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Raise and hold the cooking kitchenpot with side grips together", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Pick up the gray kitchenpot with careful lifting", + "Raise the metal kitchenpot with strong support", + "Support the smooth gray kitchenpot and raise it upward", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Hold the metal kitchenpot firmly with arms", + "Raise the metal kitchenpot steadily using arms", + "Raise the medium-sized kitchenpot together using arms", + "Grasp the metal kitchenpot and elevate together.", + "Raise the cylindrical kitchenpot using both arms", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Grab the metal kitchenpot and lift together", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Grab the metal kitchenpot and lift it up", + "Lift the kitchenpot with smooth exterior upwards with care" + ], + "unseen": [ + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode45.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..6505f246d98aacaad43264cb6201f7148f65d646 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Lift the kitchenpot with smooth exterior up together", + "Raise the smooth gray kitchenpot together using arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Pick up the metal kitchenpot with both arms", + "Securely lift the gray kitchenpot together", + "Hold the metal kitchenpot firmly, then lift.", + "Raise the medium-sized kitchenpot evenly with arms", + "Lift the cylindrical kitchenpot upward and hold it", + "Hold and raise the round kitchenpot with handles together", + "Support the cylindrical kitchenpot and raise it upward", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Raise the dark gray stove kitchenpot using both arms", + "Lift the metal kitchenpot using both arms now.", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Hold the smooth gray kitchenpot with both arms", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Bring the smooth gray kitchenpot upwards together", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Lift the smooth gray kitchenpot carefully using arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Hold the metal kitchenpot firmly and lift it", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Use both arms to raise the metal kitchenpot", + "Secure the medium kitchenpot made of metal and lift upward.", + "Hold the dark gray stove kitchenpot firmly with arms", + "Secure the kitchenpot with smooth exterior and lift it up", + "Lift the medium kitchenpot made of metal up using your arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Bring the metal kitchenpot up together", + "Raise the metal kitchenpot steadily using arms", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Use both arms to raise the smooth gray kitchenpot.", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Lift the dark gray stove kitchenpot steadily with support", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Grab the smooth gray kitchenpot and lift it up", + "Raise and hold the metal kitchenpot together", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Lift the gray kitchenpot upwards with care", + "Raise the medium kitchenpot made of metal with strong support", + "Grab the round kitchenpot with handles using both arms", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Grip the metal kitchenpot firmly and lift", + "Use arms to lift the dark gray stove kitchenpot upward", + "Hold the medium-sized kitchenpot and lift upward", + "Lift the round kitchenpot with handles up together", + "Raise the medium-sized kitchenpot together using arms", + "Lift the gray kitchenpot steadily using arms", + "Pick up the medium-sized kitchenpot with both arms", + "Securely lift the kitchenpot with smooth exterior together", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Lift the gray kitchenpot upward and hold it", + "Hold and raise the round kitchenpot with handles together", + "Support the kitchenpot with smooth exterior and raise it upward", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Raise the gray kitchenpot using both arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Hold the round kitchenpot with handles with both arms", + "Raise the kitchenpot for boiling and cooking together with arms", + "Bring the metal kitchenpot upwards together", + "Both arms lift the cooking kitchenpot with side grips upright", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Lift the smooth gray kitchenpot carefully using arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Hold the round kitchenpot with handles firmly and lift it", + "Hold and raise the round kitchenpot with handles together", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Use both arms to raise the cooking kitchenpot with side grips", + "Secure the smooth gray kitchenpot and lift upward.", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Lift the kitchenpot with smooth exterior up using your arms", + "Grab the smooth gray kitchenpot and lift it upwards", + "Take hold of the metal kitchenpot and lift up", + "Bring the metal kitchenpot up together", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Carry the kitchenpot with smooth exterior securely using arms", + "Use both arms to raise the gray kitchenpot.", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Lift the kitchenpot with smooth exterior steadily with support", + "Grab the kitchenpot for boiling and cooking and lift together", + "Grab the gray kitchenpot and lift it up", + "Raise and hold the medium kitchenpot made of metal together", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Raise the metal kitchenpot with strong support", + "Grab the medium kitchenpot made of metal using both arms", + "Raise the round kitchenpot with handles securely with arms" + ], + "unseen": [ + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode46.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..824f5d2df3c759e94e63ab2d1eb6927655c56464 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the metal kitchenpot firmly and move upward.", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Hold and raise the cylindrical kitchenpot together", + "Securely lift the cylindrical kitchenpot together", + "Place hands on the cylindrical kitchenpot, then lift.", + "Raise the smooth gray kitchenpot upward with both hands", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Raise the medium-sized kitchenpot together using arms", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Grip the medium-sized kitchenpot firmly and lift", + "Lift the kitchenpot for boiling and cooking up together", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Secure the smooth gray kitchenpot and lift it up", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Lift the gray kitchenpot carefully using arms", + "Lift the cooking kitchenpot with side grips steadily with support", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Lift the smooth gray kitchenpot upward and hold it", + "Hold the cylindrical kitchenpot firmly with arms", + "Grab the metal kitchenpot and lift it up", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Raise the kitchenpot for boiling and cooking together with arms", + "Hold and raise the round kitchenpot with handles together", + "Raise the metal kitchenpot securely with arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Hold the gray kitchenpot with both arms", + "Bring the gray kitchenpot up together", + "Pick up the smooth gray kitchenpot with careful lifting", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Use both arms to raise the smooth gray kitchenpot", + "Raise the round kitchenpot with handles evenly with arms", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Lift the medium kitchenpot made of metal upward with both arms", + "Raise the gray kitchenpot using both arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Raise and hold the kitchenpot for boiling and cooking together", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Bring the medium kitchenpot made of metal upwards together", + "Grab the medium kitchenpot made of metal using both arms", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Pick up the kitchenpot with smooth exterior with both arms", + "Take hold of the gray kitchenpot and lift up", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Lift the medium kitchenpot made of metal upwards with care", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Lift the gray kitchenpot up using your arms", + "Hold the gray kitchenpot firmly and move upward.", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Hold and raise the cylindrical kitchenpot together", + "Securely lift the medium kitchenpot made of metal together", + "Place hands on the cylindrical kitchenpot, then lift.", + "Raise the smooth gray kitchenpot upward with both hands", + "Support the kitchenpot with smooth exterior and raise it upward", + "Raise the kitchenpot for boiling and cooking together using arms", + "Both arms lift the cylindrical kitchenpot upright", + "Raise the smooth gray kitchenpot steadily using arms", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Lift the gray cylindrical metal kitchenpot up together", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Secure the cylindrical kitchenpot and lift it up", + "Lift the smooth gray kitchenpot steadily using arms", + "Hold the metal kitchenpot firmly and lift it", + "Lift the medium kitchenpot made of metal carefully using arms", + "Lift the dark gray stove kitchenpot steadily with support", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Grab the medium-sized kitchenpot and lift it up", + "Use arms to lift the metal kitchenpot upward", + "Raise the smooth gray kitchenpot together with arms", + "Hold and raise the medium kitchenpot made of metal together", + "Raise the medium-sized kitchenpot securely with arms", + "Grab the dark gray stove kitchenpot and lift together", + "Hold the metal kitchenpot with both arms", + "Bring the cooking kitchenpot with side grips up together", + "Pick up the smooth gray kitchenpot with careful lifting", + "Lift the medium-sized kitchenpot using both arms now.", + "Grab the cylindrical kitchenpot and lift it upwards", + "Use both arms to raise the round kitchenpot with handles", + "Raise the dark gray stove kitchenpot evenly with arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Lift the round kitchenpot with handles upward with both arms", + "Raise the smooth gray kitchenpot using both arms", + "Raise the cylindrical kitchenpot with strong support", + "Raise and hold the cylindrical kitchenpot together", + "Use both arms to raise the smooth gray kitchenpot.", + "Bring the cylindrical kitchenpot upwards together", + "Grab the smooth gray kitchenpot using both arms", + "Secure the cylindrical kitchenpot and lift upward.", + "Pick up the medium-sized kitchenpot with both arms", + "Take hold of the gray kitchenpot and lift up", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Lift the dark gray stove kitchenpot up using your arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode47.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..3a814aff4609b43013d23eeeff7d4d67e73d0d00 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Both arms lift the cooking kitchenpot with side grips upright", + "Hold the gray kitchenpot with both arms", + "Lift the smooth gray kitchenpot upward and hold it", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Use both arms to raise the cylindrical kitchenpot", + "Raise the dark gray stove kitchenpot steadily using arms", + "Secure the medium-sized kitchenpot and lift upward.", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Hold the cooking kitchenpot with side grips and lift upward", + "Support the medium-sized kitchenpot and raise it upward", + "Bring the cooking kitchenpot with side grips upwards together", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Hold the metal kitchenpot firmly and lift it", + "Lift the cylindrical kitchenpot steadily using arms", + "Raise the kitchenpot for boiling and cooking with strong support", + "Carry the kitchenpot with smooth exterior securely using arms", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Hold and raise the cooking kitchenpot with side grips together", + "Grab the kitchenpot for boiling and cooking and lift together", + "Lift the gray kitchenpot steadily with support", + "Pick up the medium kitchenpot made of metal with both arms", + "Raise the cylindrical kitchenpot securely with arms", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Secure the metal kitchenpot and lift it up", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Grip the gray kitchenpot firmly and lift", + "Lift the round kitchenpot with handles upwards with care", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Place hands on the round kitchenpot with handles, then lift.", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Raise the gray kitchenpot evenly with arms", + "Securely lift the gray kitchenpot together", + "Hold the round kitchenpot with handles firmly with arms", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Hold and raise the gray kitchenpot together", + "Raise the gray kitchenpot upward with both hands", + "Bring the dark gray stove kitchenpot up together", + "Lift the gray kitchenpot up together", + "Lift the smooth gray kitchenpot up using your arms", + "Lift the smooth gray kitchenpot using both arms now.", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Raise the smooth gray kitchenpot together using arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Raise the metal kitchenpot using both arms", + "Grasp the metal kitchenpot and elevate together.", + "Raise the round kitchenpot with handles together with arms", + "Raise and hold the metal kitchenpot together", + "Use both arms to raise the smooth gray kitchenpot.", + "Grab the medium kitchenpot made of metal using both arms", + "Both arms lift the medium kitchenpot made of metal upright", + "Hold the medium-sized kitchenpot with both arms", + "Lift the smooth gray kitchenpot upward and hold it", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Use both arms to raise the smooth gray kitchenpot", + "Raise the metal kitchenpot steadily using arms", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Grab the round kitchenpot with handles and lift it up", + "Hold the smooth gray kitchenpot and lift upward", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Bring the round kitchenpot with handles upwards together", + "Lift the smooth gray kitchenpot upward with both arms", + "Hold the cylindrical kitchenpot firmly and lift it", + "Lift the medium kitchenpot made of metal steadily using arms", + "Raise the medium kitchenpot made of metal with strong support", + "Carry the medium kitchenpot made of metal securely using arms", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Hold and raise the metal kitchenpot together", + "Grab the round kitchenpot with handles and lift together", + "Lift the medium-sized kitchenpot steadily with support", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Raise the smooth gray kitchenpot securely with arms", + "Grab the round kitchenpot with handles and lift it upwards", + "Secure the gray kitchenpot and lift it up", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Grip the gray kitchenpot firmly and lift", + "Lift the dark gray stove kitchenpot upwards with care", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Place hands on the gray kitchenpot, then lift.", + "Pick up the medium-sized kitchenpot with careful lifting", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Securely lift the medium kitchenpot made of metal together", + "Hold the smooth gray kitchenpot firmly with arms", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Take hold of the medium-sized kitchenpot and lift up", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise the medium-sized kitchenpot upward with both hands", + "Bring the kitchenpot for boiling and cooking up together", + "Lift the round kitchenpot with handles up together", + "Lift the cylindrical kitchenpot up using your arms", + "Lift the dark gray stove kitchenpot using both arms now.", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Raise the gray kitchenpot together using arms", + "Lift the smooth gray kitchenpot carefully using arms", + "Raise the gray kitchenpot using both arms", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Raise the medium kitchenpot made of metal together with arms", + "Raise and hold the metal kitchenpot together", + "Use both arms to raise the dark gray stove kitchenpot.", + "Grab the medium kitchenpot made of metal using both arms" + ], + "unseen": [ + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode48.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..b52909bcea51c3800fc4c9b85bb9bbf98f58002c --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the metal kitchenpot and lift together", + "Lift the metal kitchenpot carefully using both arms.", + "Carry the cooking kitchenpot with side grips securely using arms", + "Hold the round kitchenpot with handles firmly and move upward.", + "Hold and raise the gray kitchenpot together", + "Lift the dark gray stove kitchenpot upwards with care", + "Raise the smooth gray kitchenpot together using arms", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Secure the medium-sized kitchenpot and lift it up", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Lift the round kitchenpot with handles steadily using arms", + "Hold the round kitchenpot with handles and lift upward", + "Lift the cooking kitchenpot with side grips steadily with support", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Raise the round kitchenpot with handles securely with arms", + "Raise the round kitchenpot with handles evenly with arms", + "Lift the cylindrical kitchenpot up using your arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Raise the medium kitchenpot made of metal upward with both hands", + "Raise the medium-sized kitchenpot using both arms", + "Raise and hold the cylindrical kitchenpot together", + "Hold the metal kitchenpot firmly and lift it", + "Hold and raise the round kitchenpot with handles together", + "Raise the cooking kitchenpot with side grips with strong support", + "Place hands on the medium-sized kitchenpot, then lift.", + "Secure the medium-sized kitchenpot and lift upward.", + "Grab the metal kitchenpot and lift it upwards", + "Lift the round kitchenpot with handles upward and hold it", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Use arms to lift the round kitchenpot with handles upward", + "Use both arms to raise the dark gray stove kitchenpot", + "Lift the round kitchenpot with handles upward with both arms", + "Hold the dark gray stove kitchenpot with both arms", + "Grip the gray kitchenpot firmly and lift", + "Lift the medium-sized kitchenpot up together", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Grab the kitchenpot with smooth exterior using both arms", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Hold the metal kitchenpot firmly, then lift.", + "Grab the metal kitchenpot and lift it up", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Bring the cooking kitchenpot with side grips up together", + "Raise the kitchenpot for boiling and cooking together with arms", + "Bring the dark gray stove kitchenpot upwards together", + "Grasp the metal kitchenpot and elevate together.", + "Securely lift the round kitchenpot with handles together", + "Hold the dark gray stove kitchenpot firmly with arms", + "Lift the smooth gray kitchenpot carefully using arms", + "Grab the kitchenpot for boiling and cooking and lift together", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Carry the cylindrical kitchenpot securely using arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Hold and raise the cylindrical kitchenpot together", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Raise the cooking kitchenpot with side grips together using arms", + "Lift the gray kitchenpot using both arms now.", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Raise the metal kitchenpot steadily using arms", + "Pick up the medium-sized kitchenpot with careful lifting", + "Lift the round kitchenpot with handles steadily using arms", + "Hold the kitchenpot with smooth exterior and lift upward", + "Lift the dark gray stove kitchenpot steadily with support", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Raise the round kitchenpot with handles securely with arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Lift the medium-sized kitchenpot up using your arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Raise the gray kitchenpot upward with both hands", + "Raise the cylindrical kitchenpot using both arms", + "Raise and hold the medium kitchenpot made of metal together", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Hold and raise the round kitchenpot with handles together", + "Raise the medium-sized kitchenpot with strong support", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Secure the round kitchenpot with handles and lift upward.", + "Grab the gray kitchenpot and lift it upwards", + "Lift the medium-sized kitchenpot upward and hold it", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Use both arms to raise the round kitchenpot with handles", + "Lift the smooth gray kitchenpot upward with both arms", + "Hold the cylindrical kitchenpot with both arms", + "Grip the gray kitchenpot firmly and lift", + "Lift the kitchenpot for boiling and cooking up together", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Grab the dark gray stove kitchenpot using both arms", + "Take hold of the gray kitchenpot and lift up", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Pick up the gray kitchenpot with both arms", + "Bring the medium kitchenpot made of metal up together", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Bring the medium-sized kitchenpot upwards together", + "Grasp the medium-sized kitchenpot and elevate together.", + "Securely lift the round kitchenpot with handles together", + "Hold the medium kitchenpot made of metal firmly with arms", + "Lift the medium kitchenpot made of metal carefully using arms" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode49.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..7019d4a499458235167dea80b4be1cc9768dc1a8 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the metal kitchenpot carefully using arms", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Secure the smooth gray kitchenpot and lift upward.", + "Hold the round kitchenpot with handles and lift upward", + "Secure the round kitchenpot with handles and lift it up", + "Raise the smooth gray kitchenpot upward with both hands", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Both arms lift the dark gray stove kitchenpot upright", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Hold and raise the medium-sized kitchenpot together", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Take hold of the cylindrical kitchenpot and lift up", + "Hold and raise the round kitchenpot with handles together", + "Support the cooking kitchenpot with side grips and raise it upward", + "Raise the gray kitchenpot securely with arms", + "Hold the medium-sized kitchenpot with both arms", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Lift the dark gray stove kitchenpot upward with both arms", + "Pick up the smooth gray kitchenpot with careful lifting", + "Grab the cylindrical kitchenpot using both arms", + "Bring the metal kitchenpot up together", + "Use both arms to raise the round kitchenpot with handles.", + "Raise the gray kitchenpot together using arms", + "Use both arms to raise the cylindrical kitchenpot", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Grasp the medium-sized kitchenpot and elevate together.", + "Grab the cooking kitchenpot with side grips and lift it up", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Bring the medium-sized kitchenpot upwards together", + "Lift the gray kitchenpot upwards with care", + "Raise the medium-sized kitchenpot together with arms", + "Lift the smooth gray kitchenpot up using your arms", + "Securely lift the round kitchenpot with handles together", + "Lift the cylindrical kitchenpot steadily using arms", + "With arms, raise the metal kitchenpot upward slowly.", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Raise the metal kitchenpot using both arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Raise the kitchenpot with smooth exterior with strong support", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Place hands on the metal kitchenpot, then lift.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Lift the dark gray stove kitchenpot up together", + "Raise and hold the gray kitchenpot together", + "Pick up the cooking kitchenpot with side grips with both arms", + "Lift the metal kitchenpot carefully using arms", + "Grip the medium-sized kitchenpot firmly and lift", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Hold the cooking kitchenpot with side grips and lift upward", + "Secure the metal kitchenpot and lift it up", + "Raise the dark gray stove kitchenpot upward with both hands", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Both arms lift the kitchenpot with smooth exterior upright", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Hold and raise the smooth gray kitchenpot together", + "Grab the round kitchenpot with handles and lift together", + "Take hold of the medium kitchenpot made of metal and lift up", + "Hold and raise the cylindrical kitchenpot together", + "Support the cylindrical kitchenpot and raise it upward", + "Raise the metal kitchenpot securely with arms", + "Hold the gray kitchenpot with both arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Lift the medium kitchenpot made of metal upward with both arms", + "Pick up the cylindrical kitchenpot with careful lifting", + "Grab the cooking kitchenpot with side grips using both arms", + "Bring the medium-sized kitchenpot up together", + "Use both arms to raise the cylindrical kitchenpot.", + "Raise the kitchenpot for boiling and cooking together using arms", + "Use both arms to raise the medium kitchenpot made of metal", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Carry the cooking kitchenpot with side grips securely using arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Grasp the smooth gray kitchenpot and elevate together.", + "Grab the cooking kitchenpot with side grips and lift it up", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Use arms to lift the smooth gray kitchenpot upward", + "Bring the medium-sized kitchenpot upwards together", + "Lift the metal kitchenpot upwards with care", + "Raise the round kitchenpot with handles together with arms", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Securely lift the metal kitchenpot together", + "Lift the dark gray stove kitchenpot steadily using arms", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Raise the medium-sized kitchenpot using both arms", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Raise the smooth gray kitchenpot with strong support", + "Raise the cylindrical kitchenpot evenly with arms", + "Place hands on the gray kitchenpot, then lift.", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Lift the gray kitchenpot up together", + "Raise and hold the kitchenpot for boiling and cooking together", + "Pick up the gray kitchenpot with both arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode5.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..25e0523fc85569b9bbb3d28019b07e5e44b571ba --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Securely lift the kitchenpot with smooth exterior together", + "Lift the kitchenpot with smooth exterior upwards with care", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Grip the dark gray stove kitchenpot firmly and lift", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Pick up the round kitchenpot with handles with careful lifting", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Raise and hold the medium-sized kitchenpot together", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Hold the smooth gray kitchenpot and lift upward", + "Lift the dark gray stove kitchenpot carefully using arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Lift the medium-sized kitchenpot up together", + "Grab the cooking kitchenpot with side grips and lift together", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Lift the metal kitchenpot up using your arms", + "Bring the gray kitchenpot up together", + "Support the smooth gray kitchenpot and raise it upward", + "Lift the gray kitchenpot steadily with support", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Hold and raise the smooth gray kitchenpot together", + "Raise the cooking kitchenpot with side grips using both arms", + "Use both arms to raise the medium-sized kitchenpot", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Raise the medium-sized kitchenpot upward with both hands", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Both arms lift the medium-sized kitchenpot upright", + "Lift the smooth gray kitchenpot upward with both arms", + "Raise the medium kitchenpot made of metal with strong support", + "Use arms to lift the round kitchenpot with handles upward", + "Hold the kitchenpot for boiling and cooking with both arms", + "Raise the round kitchenpot with handles evenly with arms", + "Grasp the dark gray stove kitchenpot and elevate together.", + "With arms, raise the metal kitchenpot upward slowly.", + "Raise the kitchenpot for boiling and cooking together using arms", + "Hold the metal kitchenpot firmly, then lift.", + "Lift the medium-sized kitchenpot using both arms now.", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Pick up the cylindrical kitchenpot with both arms", + "Raise the medium-sized kitchenpot securely with arms", + "Bring the kitchenpot for boiling and cooking upwards together", + "Raise the cooking kitchenpot with side grips together with arms", + "Take hold of the gray kitchenpot and lift up", + "Use both arms to raise the medium kitchenpot made of metal.", + "Lift the metal kitchenpot carefully using both arms.", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Securely lift the metal kitchenpot together", + "Lift the gray kitchenpot upwards with care", + "Place hands on the smooth gray kitchenpot, then lift.", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Raise and hold the medium kitchenpot made of metal together", + "Carry the medium kitchenpot made of metal securely using arms", + "Hold the smooth gray kitchenpot and lift upward", + "Lift the gray kitchenpot carefully using arms", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Lift the gray cylindrical metal kitchenpot up together", + "Grab the medium kitchenpot made of metal and lift together", + "Raise the dark gray stove kitchenpot steadily using arms", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Bring the cylindrical kitchenpot up together", + "Support the kitchenpot with smooth exterior and raise it upward", + "Lift the smooth gray kitchenpot steadily with support", + "Grab the metal kitchenpot and lift it up", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Hold and raise the round kitchenpot with handles together", + "Raise the metal kitchenpot using both arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Raise the cylindrical kitchenpot upward with both hands", + "Secure the round kitchenpot with handles and lift it up", + "Both arms lift the cylindrical kitchenpot upright", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Raise the medium-sized kitchenpot with strong support", + "Use arms to lift the dark gray stove kitchenpot upward", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Raise the gray kitchenpot evenly with arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Raise the metal kitchenpot together using arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Lift the cylindrical kitchenpot using both arms now.", + "Lift the dark gray stove kitchenpot steadily using arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "Raise the medium kitchenpot made of metal securely with arms", + "Bring the kitchenpot with smooth exterior upwards together", + "Raise the round kitchenpot with handles together with arms", + "Take hold of the smooth gray kitchenpot and lift up", + "Use both arms to raise the metal kitchenpot.", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Hold the gray kitchenpot firmly and lift it", + "Hold and raise the metal kitchenpot together", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Grab the kitchenpot for boiling and cooking using both arms" + ], + "unseen": [ + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode6.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..3c15152c410946bd86a0f4b2b33ba1f2b97806b4 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Bring the gray cylindrical metal kitchenpot upwards together", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Raise the gray kitchenpot with strong support", + "Hold the round kitchenpot with handles firmly and move upward.", + "Use both arms to raise the cylindrical kitchenpot", + "Lift the medium kitchenpot made of metal upward and hold it", + "Lift the gray kitchenpot up using your arms", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Lift the metal kitchenpot steadily with support", + "Lift the kitchenpot with smooth exterior up together", + "Carry the smooth gray kitchenpot securely using arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Use arms to lift the metal kitchenpot upward", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Grab the metal kitchenpot and lift it up", + "Grasp the round kitchenpot with handles and elevate together.", + "Raise the kitchenpot for boiling and cooking together using arms", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Pick up the medium-sized kitchenpot with both arms", + "Lift the smooth gray kitchenpot steadily using arms", + "Securely lift the cooking kitchenpot with side grips together", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Hold the cooking kitchenpot with side grips and lift upward", + "Lift the gray kitchenpot using both arms now.", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Raise the gray kitchenpot securely with arms", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Raise the gray kitchenpot using both arms", + "Raise and hold the smooth gray kitchenpot together", + "Support the dark gray stove kitchenpot and raise it upward", + "Pick up the round kitchenpot with handles with careful lifting", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Grab the medium-sized kitchenpot and lift together", + "Both arms lift the medium kitchenpot made of metal upright", + "Hold the metal kitchenpot firmly with arms", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Hold the metal kitchenpot firmly and lift it", + "Raise the round kitchenpot with handles together with arms", + "Secure the gray kitchenpot and lift upward.", + "Lift the cylindrical kitchenpot upwards with care", + "Grab the kitchenpot for boiling and cooking using both arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Hold and raise the medium-sized kitchenpot together", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Lift the smooth gray kitchenpot carefully using arms", + "Bring the smooth gray kitchenpot upwards together", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Raise the medium-sized kitchenpot with strong support", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Use both arms to raise the gray kitchenpot", + "Lift the metal kitchenpot upward and hold it", + "Lift the dark gray stove kitchenpot up using your arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Lift the cooking kitchenpot with side grips steadily with support", + "Lift the medium-sized kitchenpot up together", + "Carry the round kitchenpot with handles securely using arms", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Raise the smooth gray kitchenpot evenly with arms", + "Raise the dark gray stove kitchenpot steadily using arms", + "Bring the medium-sized kitchenpot up together", + "Grab the metal kitchenpot and lift it up", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Raise the medium-sized kitchenpot together using arms", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the cylindrical kitchenpot steadily using arms", + "Securely lift the dark gray stove kitchenpot together", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Hold the kitchenpot with smooth exterior and lift upward", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Raise the cylindrical kitchenpot securely with arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Raise and hold the cooking kitchenpot with side grips together", + "Support the round kitchenpot with handles and raise it upward", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Both arms lift the medium kitchenpot made of metal upright", + "Hold the medium-sized kitchenpot firmly with arms", + "Secure the round kitchenpot with handles and lift it up", + "Hold the gray kitchenpot firmly and lift it", + "Raise the kitchenpot with smooth exterior together with arms", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Lift the kitchenpot with smooth exterior upwards with care", + "Grab the kitchenpot with smooth exterior using both arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Hold and raise the medium-sized kitchenpot together", + "Hold the medium kitchenpot made of metal with both arms", + "Lift the gray cylindrical metal kitchenpot carefully using arms" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode7.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..4c622e7d2157b3537b23f770f18d0dac1ba95842 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the gray kitchenpot firmly and lift it", + "Securely lift the gray kitchenpot together", + "Lift the cylindrical kitchenpot up together", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Raise the dark gray stove kitchenpot using both arms", + "Pick up the medium-sized kitchenpot with both arms", + "Hold and raise the metal kitchenpot together", + "Secure the round kitchenpot with handles and lift upward.", + "Grab the gray kitchenpot and lift it upwards", + "Use both arms to raise the dark gray stove kitchenpot.", + "Carry the medium-sized kitchenpot securely using arms", + "Lift the medium-sized kitchenpot steadily using arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Raise the smooth gray kitchenpot upward with both hands", + "Support the kitchenpot with smooth exterior and raise it upward", + "Lift the dark gray stove kitchenpot upward and hold it", + "Lift the cooking kitchenpot with side grips up using your arms", + "Lift the metal kitchenpot upward with both arms", + "Hold the medium-sized kitchenpot firmly with arms", + "Bring the medium kitchenpot made of metal upwards together", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Lift the dark gray stove kitchenpot carefully using arms", + "Raise the round kitchenpot with handles together with arms", + "Hold the kitchenpot with smooth exterior and lift upward", + "Grab the medium-sized kitchenpot using both arms", + "Lift the smooth gray kitchenpot steadily with support", + "Hold the cooking kitchenpot with side grips with both arms", + "Use both arms to raise the metal kitchenpot", + "Bring the medium kitchenpot made of metal up together", + "Raise the smooth gray kitchenpot together using arms", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Lift the kitchenpot with smooth exterior upwards with care", + "Raise the smooth gray kitchenpot securely with arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Raise the metal kitchenpot evenly with arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Grab the cooking kitchenpot with side grips and lift together", + "Grab the metal kitchenpot and lift it up", + "Pick up the gray kitchenpot with careful lifting", + "Both arms lift the smooth gray kitchenpot upright", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Raise and hold the smooth gray kitchenpot together", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Raise the smooth gray kitchenpot with strong support", + "Grip the dark gray stove kitchenpot firmly and lift", + "Secure the smooth gray kitchenpot and lift it up", + "Use arms to lift the medium-sized kitchenpot upward", + "Take hold of the dark gray stove kitchenpot and lift up", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Securely lift the medium kitchenpot made of metal together", + "Lift the gray cylindrical metal kitchenpot up together", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Raise the gray kitchenpot using both arms", + "Pick up the medium-sized kitchenpot with both arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Secure the cylindrical kitchenpot and lift upward.", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Use both arms to raise the metal kitchenpot.", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the kitchenpot with smooth exterior steadily using arms", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Raise the cylindrical kitchenpot upward with both hands", + "Support the cylindrical kitchenpot and raise it upward", + "Lift the smooth gray kitchenpot upward and hold it", + "Lift the round kitchenpot with handles up using your arms", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Hold the dark gray stove kitchenpot firmly with arms", + "Bring the gray kitchenpot upwards together", + "Hold and raise the smooth gray kitchenpot together", + "Place hands on the round kitchenpot with handles, then lift.", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Raise the dark gray stove kitchenpot together with arms", + "Hold the dark gray stove kitchenpot and lift upward", + "Grab the dark gray stove kitchenpot using both arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Use both arms to raise the medium kitchenpot made of metal", + "Bring the metal kitchenpot up together", + "Raise the gray kitchenpot together using arms", + "Raise the dark gray stove kitchenpot steadily using arms", + "Lift the cooking kitchenpot with side grips upwards with care", + "Raise the cooking kitchenpot with side grips securely with arms", + "Lift the metal kitchenpot using both arms now.", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Grab the kitchenpot with smooth exterior and lift together", + "Grab the cylindrical kitchenpot and lift it up", + "Pick up the metal kitchenpot with careful lifting", + "Both arms lift the medium-sized kitchenpot upright", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Raise and hold the kitchenpot with smooth exterior together", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Raise the dark gray stove kitchenpot with strong support", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Secure the cooking kitchenpot with side grips and lift it up", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Take hold of the medium kitchenpot made of metal and lift up" + ], + "unseen": [ + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode8.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..59ca2bda6181b2aaf9bb3d2a91cc8adec2f87d7f --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the metal kitchenpot carefully using arms", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Use both arms to raise the smooth gray kitchenpot.", + "Raise the kitchenpot with smooth exterior securely with arms", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Lift the medium kitchenpot made of metal upwards with care", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Securely lift the cooking kitchenpot with side grips together", + "Hold the dark gray stove kitchenpot and lift upward", + "Carry the kitchenpot with smooth exterior securely using arms", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Bring the medium kitchenpot made of metal upwards together", + "Lift the round kitchenpot with handles using both arms now.", + "Raise the cylindrical kitchenpot upward with both hands", + "Grab the kitchenpot for boiling and cooking using both arms", + "Raise the smooth gray kitchenpot together with arms", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Hold the round kitchenpot with handles with both arms", + "Raise the cooking kitchenpot with side grips together using arms", + "Grasp the medium-sized kitchenpot and elevate together.", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Hold and raise the kitchenpot with smooth exterior together", + "Support the round kitchenpot with handles and raise it upward", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Secure the round kitchenpot with handles and lift it up", + "Raise the medium kitchenpot made of metal using both arms", + "Grab the medium-sized kitchenpot and lift together", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Hold and raise the gray kitchenpot together", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Hold the cylindrical kitchenpot firmly with arms", + "Raise the gray kitchenpot evenly with arms", + "Raise the medium kitchenpot made of metal with strong support", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Lift the cooking kitchenpot with side grips up together", + "Bring the gray cylindrical metal kitchenpot up together", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Use both arms to raise the medium kitchenpot made of metal", + "Pick up the cylindrical kitchenpot with careful lifting", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Pick up the round kitchenpot with handles with both arms", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Lift the cylindrical kitchenpot upward and hold it", + "Both arms lift the cylindrical kitchenpot upright", + "Lift the kitchenpot with smooth exterior steadily with support", + "Secure the metal kitchenpot and lift upward.", + "Lift the metal kitchenpot carefully using arms", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Use both arms to raise the medium kitchenpot made of metal.", + "Raise the round kitchenpot with handles securely with arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Lift the round kitchenpot with handles upwards with care", + "With arms, raise the metal kitchenpot upward slowly.", + "Use arms to lift the smooth gray kitchenpot upward", + "Securely lift the cylindrical kitchenpot together", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Carry the metal kitchenpot securely using arms", + "Raise the gray kitchenpot steadily using arms", + "Bring the smooth gray kitchenpot upwards together", + "Lift the round kitchenpot with handles using both arms now.", + "Raise the metal kitchenpot upward with both hands", + "Grab the metal kitchenpot using both arms", + "Raise the medium-sized kitchenpot together with arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Hold the cylindrical kitchenpot with both arms", + "Raise the gray kitchenpot together using arms", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Hold the round kitchenpot with handles firmly and lift it", + "Hold and raise the round kitchenpot with handles together", + "Support the kitchenpot with smooth exterior and raise it upward", + "Place hands on the medium-sized kitchenpot, then lift.", + "Secure the medium-sized kitchenpot and lift it up", + "Raise the smooth gray kitchenpot using both arms", + "Grab the kitchenpot with smooth exterior and lift together", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Hold and raise the cylindrical kitchenpot together", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Hold the gray kitchenpot firmly with arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Raise the dark gray stove kitchenpot with strong support", + "Lift the cooking kitchenpot with side grips up using your arms", + "Hold the gray kitchenpot firmly, then lift.", + "Lift the round kitchenpot with handles up together", + "Bring the dark gray stove kitchenpot up together", + "Lift the medium kitchenpot made of metal steadily using arms", + "Grab the medium-sized kitchenpot and lift it up", + "Use both arms to raise the gray kitchenpot", + "Pick up the round kitchenpot with handles with careful lifting", + "Raise and hold the dark gray stove kitchenpot together", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Both arms lift the cooking kitchenpot with side grips upright", + "Lift the metal kitchenpot steadily with support", + "Secure the round kitchenpot with handles and lift upward." + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode9.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..8bd1921a9e213f0aada34d2343458fa6effc7233 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the metal kitchenpot carefully using arms", + "Hold the metal kitchenpot firmly and lift it", + "Lift the metal kitchenpot steadily using arms", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Bring the kitchenpot with smooth exterior up together", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Both arms lift the kitchenpot with smooth exterior upright", + "Hold the gray kitchenpot firmly, then lift.", + "Raise the kitchenpot for boiling and cooking with strong support", + "Lift the kitchenpot with smooth exterior up together", + "Lift the smooth gray kitchenpot up using your arms", + "Lift the gray kitchenpot upwards with care", + "Bring the metal kitchenpot upwards together", + "Secure the medium-sized kitchenpot and lift it up", + "Grip the smooth gray kitchenpot firmly and lift", + "Support the dark gray stove kitchenpot and raise it upward", + "Lift the metal kitchenpot steadily with support", + "Raise the medium-sized kitchenpot evenly with arms", + "Securely lift the medium-sized kitchenpot together", + "Grasp the medium-sized kitchenpot and elevate together.", + "Carry the cylindrical kitchenpot securely using arms", + "Raise the medium kitchenpot made of metal together with arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Use arms to lift the smooth gray kitchenpot upward", + "Grab the kitchenpot for boiling and cooking and lift together", + "Raise the metal kitchenpot securely with arms", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Take hold of the round kitchenpot with handles and lift up", + "Lift the medium kitchenpot made of metal using both arms now.", + "Pick up the smooth gray kitchenpot with careful lifting", + "Hold the metal kitchenpot firmly and move upward.", + "Hold and raise the metal kitchenpot together", + "Raise the metal kitchenpot using both arms", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Hold the medium-sized kitchenpot firmly with arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Raise and hold the kitchenpot for boiling and cooking together", + "Raise the round kitchenpot with handles together using arms", + "Use both arms to raise the gray kitchenpot.", + "Grab the kitchenpot with smooth exterior using both arms", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Hold the metal kitchenpot with both arms", + "Hold and raise the smooth gray kitchenpot together", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Grab the round kitchenpot with handles and lift it upwards", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Pick up the round kitchenpot with handles with both arms", + "With arms, raise the metal kitchenpot upward slowly.", + "Lift the medium-sized kitchenpot carefully using arms", + "Hold the gray kitchenpot firmly and lift it", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Hold the metal kitchenpot and lift upward", + "Bring the smooth gray kitchenpot up together", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Both arms lift the cooking kitchenpot with side grips upright", + "Hold the gray kitchenpot firmly, then lift.", + "Raise the cooking kitchenpot with side grips with strong support", + "Lift the metal kitchenpot up together", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Lift the cylindrical kitchenpot upwards with care", + "Bring the medium kitchenpot made of metal upwards together", + "Secure the smooth gray kitchenpot and lift it up", + "Grip the dark gray stove kitchenpot firmly and lift", + "Support the kitchenpot with smooth exterior and raise it upward", + "Lift the cooking kitchenpot with side grips steadily with support", + "Raise the medium kitchenpot made of metal evenly with arms", + "Securely lift the gray cylindrical metal kitchenpot together", + "Grasp the round kitchenpot with handles and elevate together.", + "Carry the dark gray stove kitchenpot securely using arms", + "Raise the medium-sized kitchenpot together with arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Use arms to lift the gray kitchenpot upward", + "Grab the medium kitchenpot made of metal and lift together", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Lift the metal kitchenpot using both arms now.", + "Pick up the metal kitchenpot with careful lifting", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the gray kitchenpot using both arms", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Lift the dark gray stove kitchenpot upward with both arms", + "Raise and hold the metal kitchenpot together", + "Raise the cylindrical kitchenpot together using arms", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Grab the kitchenpot for boiling and cooking using both arms", + "Raise the round kitchenpot with handles upward with both hands", + "Hold the kitchenpot with smooth exterior with both arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Grab the cylindrical kitchenpot and lift it upwards", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Secure the dark gray stove kitchenpot and lift upward.", + "Pick up the dark gray stove kitchenpot with both arms", + "With arms, raise the kitchenpot with smooth exterior upward slowly." + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/scene_info.json b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..cde7b97c626d096e4a0f5258ddf89fbf932cbe68 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/aloha-agilex/meta/scene_info.json @@ -0,0 +1,554 @@ +{ + "episodes": [ + { + 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0000000000000000000000000000000000000000..f3fe0f185a1b74f4ab6322920c9cb51392f1fdb0 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/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/lift_pot/franka-panda/meta/info.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..0f7f0a3c7f8104be4b1e03e70ebcb2d10e3d5a31 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/info.json @@ -0,0 +1,64 @@ +{ + "task": "lift_pot", + "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/lift_pot/franka-panda/meta/instructions/episode0.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..0f8ba9d56ac88fa8d14e90d8e35c4a9ce7885365 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the round kitchenpot with handles using both arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Secure the dark gray stove kitchenpot and lift it up", + "Grip the gray kitchenpot firmly and lift", + "Lift the smooth gray kitchenpot upward with both arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Engage arms to grip and lift the gray kitchenpot.", + "Raise the gray kitchenpot upward with both hands", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Bring the round kitchenpot with handles up together", + "Raise the cylindrical kitchenpot together using arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Lift the round kitchenpot with handles upward and hold it", + "Grasp the metal kitchenpot and elevate together.", + "Place hands on the cylindrical kitchenpot, then lift.", + "Grab the cooking kitchenpot with side grips and lift it up", + "Pick up the kitchenpot with smooth exterior with both arms", + "Use both arms to raise the round kitchenpot with handles", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Grab the cylindrical kitchenpot and lift together", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the metal kitchenpot using both arms", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Both arms lift the metal kitchenpot upright", + "Raise the dark gray stove kitchenpot steadily using arms", + "Hold the smooth gray kitchenpot firmly with arms", + "Carry the smooth gray kitchenpot securely using arms", + "Use both arms to raise the cylindrical kitchenpot.", + "Hold the cylindrical kitchenpot firmly and lift it", + "Hold and raise the medium-sized kitchenpot together", + "Lift the cylindrical kitchenpot steadily with support", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Hold the smooth gray kitchenpot with both arms", + "Lift the medium-sized kitchenpot up using your arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Raise the gray kitchenpot together with arms", + "Raise the round kitchenpot with handles securely with arms", + "Securely lift the medium-sized kitchenpot together", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Lift the gray kitchenpot upwards with care", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Secure the metal kitchenpot and lift upward.", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Lift the medium kitchenpot made of metal up together", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Raise and hold the dark gray stove kitchenpot together", + "Pick up the smooth gray kitchenpot with careful lifting", + "Grab the kitchenpot for boiling and cooking using both arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Grip the medium kitchenpot made of metal firmly and lift", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Bring the cylindrical kitchenpot up together", + "Raise the medium kitchenpot made of metal together using arms", + "Raise the dark gray stove kitchenpot evenly with arms", + "Bring the smooth gray kitchenpot upwards together", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Grab the gray kitchenpot and lift it up", + "Pick up the cooking kitchenpot with side grips with both arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Lift the dark gray stove kitchenpot carefully using arms", + "Grab the smooth gray kitchenpot and lift together", + "Use arms to lift the metal kitchenpot upward", + "Hold and raise the gray kitchenpot together", + "Raise the metal kitchenpot using both arms", + "Support the medium kitchenpot made of metal and raise it upward", + "Both arms lift the gray kitchenpot upright", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Hold the medium-sized kitchenpot firmly with arms", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Use both arms to raise the gray kitchenpot.", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the cooking kitchenpot with side grips steadily with support", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Hold the kitchenpot for boiling and cooking with both arms", + "Lift the metal kitchenpot up using your arms", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Raise the smooth gray kitchenpot together with arms", + "Raise the medium kitchenpot made of metal securely with arms", + "Securely lift the round kitchenpot with handles together", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Lift the gray kitchenpot upwards with care", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Secure the cylindrical kitchenpot and lift upward.", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Lift the medium-sized kitchenpot up together", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Raise and hold the medium kitchenpot made of metal together", + "Pick up the gray cylindrical metal kitchenpot with careful lifting" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode1.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..12932ef8b510f6699025d1ea9ae61acd166e8720 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the round kitchenpot with handles upward with both arms", + "Pick up the medium-sized kitchenpot with both arms", + "Lift the smooth gray kitchenpot steadily with support", + "Use both arms to raise the medium kitchenpot made of metal.", + "Support the medium kitchenpot made of metal and raise it upward", + "Hold and raise the medium-sized kitchenpot together", + "Lift the gray kitchenpot up together", + "Raise the round kitchenpot with handles steadily using arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Grab the cylindrical kitchenpot and lift it upwards", + "Lift the metal kitchenpot steadily using arms", + "Raise and hold the cylindrical kitchenpot together", + "Raise the medium kitchenpot made of metal with strong support", + "Bring the cooking kitchenpot with side grips upwards together", + "Grab the cylindrical kitchenpot and lift together", + "Lift the smooth gray kitchenpot upward and hold it", + "Raise the metal kitchenpot using both arms", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Raise the gray kitchenpot evenly with arms", + "Both arms lift the smooth gray kitchenpot upright", + "Lift the metal kitchenpot carefully using arms", + "Grab the kitchenpot for boiling and cooking using both arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Lift the cylindrical kitchenpot up using your arms", + "Hold the metal kitchenpot and lift upward", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Secure the dark gray stove kitchenpot and lift upward.", + "Raise the medium-sized kitchenpot together using arms", + "Raise the gray kitchenpot securely with arms", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Pick up the round kitchenpot with handles with careful lifting", + "Take hold of the gray kitchenpot and lift up", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Use arms to lift the medium-sized kitchenpot upward", + "Hold the gray kitchenpot firmly and move upward.", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Lift the kitchenpot with smooth exterior upwards with care", + "Lift the medium kitchenpot made of metal using both arms now.", + "Use both arms to raise the medium-sized kitchenpot", + "Grip the dark gray stove kitchenpot firmly and lift", + "Hold the medium-sized kitchenpot firmly and lift it", + "Bring the kitchenpot with smooth exterior up together", + "Raise the medium-sized kitchenpot together with arms", + "Hold and raise the medium-sized kitchenpot together", + "Securely lift the dark gray stove kitchenpot together", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Raise the round kitchenpot with handles upward with both hands", + "Hold the cooking kitchenpot with side grips with both arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Lift the gray kitchenpot steadily with support", + "Use both arms to raise the cylindrical kitchenpot.", + "Support the cooking kitchenpot with side grips and raise it upward", + "Hold and raise the cylindrical kitchenpot together", + "Lift the metal kitchenpot up together", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Lift the cylindrical kitchenpot steadily using arms", + "Raise and hold the metal kitchenpot together", + "Raise the kitchenpot with smooth exterior with strong support", + "Bring the gray kitchenpot upwards together", + "Grab the medium kitchenpot made of metal and lift together", + "Lift the cylindrical kitchenpot upward and hold it", + "Raise the medium kitchenpot made of metal using both arms", + "Hold the dark gray stove kitchenpot firmly with arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Both arms lift the cylindrical kitchenpot upright", + "Lift the metal kitchenpot carefully using arms", + "Grab the gray kitchenpot using both arms", + "Place hands on the cylindrical kitchenpot, then lift.", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Hold the medium-sized kitchenpot and lift upward", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Secure the medium kitchenpot made of metal and lift upward.", + "Raise the cylindrical kitchenpot together using arms", + "Raise the cylindrical kitchenpot securely with arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Pick up the smooth gray kitchenpot with careful lifting", + "Take hold of the medium kitchenpot made of metal and lift up", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Use arms to lift the gray kitchenpot upward", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Grasp the medium kitchenpot made of metal and elevate together.", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Lift the round kitchenpot with handles upwards with care", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Use both arms to raise the medium kitchenpot made of metal", + "Grip the metal kitchenpot firmly and lift", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Bring the metal kitchenpot up together", + "Raise the cooking kitchenpot with side grips together with arms", + "Hold and raise the smooth gray kitchenpot together", + "Securely lift the kitchenpot with smooth exterior together", + "Carry the cooking kitchenpot with side grips securely using arms", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Hold the gray kitchenpot with both arms" + ], + "unseen": [ + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode10.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..3f6e505b6a0b0dc9f164a0827f5fcdf673ba49ef --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Bring the round kitchenpot with handles up together", + "Grab the medium kitchenpot made of metal and lift it up", + "Securely lift the cylindrical kitchenpot together", + "Both arms lift the dark gray stove kitchenpot upright", + "Hold and raise the gray kitchenpot together", + "Grasp the smooth gray kitchenpot and elevate together.", + "Lift the medium kitchenpot made of metal upward and hold it", + "Raise the medium-sized kitchenpot together with arms", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Lift the round kitchenpot with handles carefully using arms", + "Raise the smooth gray kitchenpot evenly with arms", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Hold the medium-sized kitchenpot and lift upward", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Lift the metal kitchenpot up together", + "Secure the kitchenpot with smooth exterior and lift it up", + "Take hold of the dark gray stove kitchenpot and lift up", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Hold the cylindrical kitchenpot with both arms", + "Use arms to lift the round kitchenpot with handles upward", + "Raise and hold the cooking kitchenpot with side grips together", + "Lift the medium kitchenpot made of metal up using your arms", + "Grab the kitchenpot with smooth exterior using both arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Raise the dark gray stove kitchenpot securely with arms", + "Lift the smooth gray kitchenpot upwards with care", + "Raise the gray kitchenpot with strong support", + "Grab the metal kitchenpot and lift it upwards", + "Grip the round kitchenpot with handles firmly and lift", + "Bring the gray kitchenpot upwards together", + "Raise the smooth gray kitchenpot together using arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Use both arms to raise the metal kitchenpot.", + "Hold the smooth gray kitchenpot firmly and lift it", + "Secure the medium kitchenpot made of metal and lift upward.", + "Grab the dark gray stove kitchenpot and lift together", + "Pick up the round kitchenpot with handles with both arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Raise the medium kitchenpot made of metal using both arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Use both arms to raise the round kitchenpot with handles", + "Place hands on the round kitchenpot with handles, then lift.", + "Lift the smooth gray kitchenpot steadily using arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Hold the smooth gray kitchenpot firmly with arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Bring the round kitchenpot with handles up together", + "Grab the medium-sized kitchenpot and lift it up", + "Securely lift the smooth gray kitchenpot together", + "Both arms lift the cylindrical kitchenpot upright", + "Hold and raise the smooth gray kitchenpot together", + "Grasp the cylindrical kitchenpot and elevate together.", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Raise the smooth gray kitchenpot together with arms", + "Raise the cylindrical kitchenpot steadily using arms", + "Lift the dark gray stove kitchenpot carefully using arms", + "Raise the gray kitchenpot evenly with arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Hold the round kitchenpot with handles and lift upward", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Lift the smooth gray kitchenpot up together", + "Secure the cylindrical kitchenpot and lift it up", + "Take hold of the cylindrical kitchenpot and lift up", + "Pick up the round kitchenpot with handles with careful lifting", + "Hold the cylindrical kitchenpot with both arms", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Lift the round kitchenpot with handles up using your arms", + "Grab the metal kitchenpot using both arms", + "Support the round kitchenpot with handles and raise it upward", + "Raise the cooking kitchenpot with side grips securely with arms", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Raise the round kitchenpot with handles with strong support", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Grip the medium kitchenpot made of metal firmly and lift", + "Bring the medium-sized kitchenpot upwards together", + "Raise the medium kitchenpot made of metal together using arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Hold the round kitchenpot with handles firmly and lift it", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Grab the medium kitchenpot made of metal and lift together", + "Pick up the cylindrical kitchenpot with both arms", + "Lift the metal kitchenpot using both arms now.", + "Carry the round kitchenpot with handles securely using arms", + "Raise the round kitchenpot with handles using both arms", + "Lift the dark gray stove kitchenpot steadily with support", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Lift the dark gray stove kitchenpot upward with both arms", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Hold and raise the round kitchenpot with handles together" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode11.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..2f558d1adf7fb3b4c455cfbb95b564f493588e2e --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the kitchenpot with smooth exterior together with arms", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Raise the gray kitchenpot together using arms", + "Lift the metal kitchenpot steadily using arms", + "Hold the round kitchenpot with handles firmly and move upward.", + "Hold the metal kitchenpot firmly, then lift.", + "Lift the cylindrical kitchenpot carefully using arms", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Use arms to lift the round kitchenpot with handles upward", + "Grab the medium kitchenpot made of metal and lift together", + "Hold the metal kitchenpot firmly and lift it", + "Grip the medium kitchenpot made of metal firmly and lift", + "Grab the smooth gray kitchenpot and lift it up", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Raise the medium kitchenpot made of metal securely with arms", + "Lift the dark gray stove kitchenpot upwards with care", + "Use both arms to raise the medium kitchenpot made of metal.", + "Raise and hold the medium kitchenpot made of metal together", + "Grab the medium-sized kitchenpot and lift it upwards", + "Raise the cylindrical kitchenpot upward with both hands", + "Carry the medium kitchenpot made of metal securely using arms", + "Raise the medium kitchenpot made of metal evenly with arms", + "Raise the cylindrical kitchenpot using both arms", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Hold the cylindrical kitchenpot and lift upward", + "Hold the kitchenpot with smooth exterior with both arms", + "Hold and raise the cylindrical kitchenpot together", + "Securely lift the medium kitchenpot made of metal together", + "Secure the metal kitchenpot and lift upward.", + "Take hold of the cylindrical kitchenpot and lift up", + "Lift the dark gray stove kitchenpot using both arms now.", + "Hold and raise the gray kitchenpot together", + "Bring the round kitchenpot with handles up together", + "Pick up the medium kitchenpot made of metal with both arms", + "Grasp the metal kitchenpot and elevate together.", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Use both arms to raise the smooth gray kitchenpot", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Lift the cooking kitchenpot with side grips steadily with support", + "Both arms lift the dark gray stove kitchenpot upright", + "Lift the medium-sized kitchenpot up using your arms", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Lift the medium kitchenpot made of metal up together", + "Hold the gray kitchenpot firmly with arms", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Raise the medium-sized kitchenpot with strong support", + "Raise the metal kitchenpot together with arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Raise the medium kitchenpot made of metal together using arms", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Hold the gray kitchenpot firmly, then lift.", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Use arms to lift the cylindrical kitchenpot upward", + "Grab the medium-sized kitchenpot and lift together", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Grip the gray kitchenpot firmly and lift", + "Grab the cooking kitchenpot with side grips and lift it up", + "Lift the medium kitchenpot made of metal upward with both arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Raise the smooth gray kitchenpot securely with arms", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Use both arms to raise the smooth gray kitchenpot.", + "Raise and hold the dark gray stove kitchenpot together", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Raise the dark gray stove kitchenpot upward with both hands", + "Carry the dark gray stove kitchenpot securely using arms", + "Raise the round kitchenpot with handles evenly with arms", + "Raise the kitchenpot for boiling and cooking using both arms", + "Bring the gray kitchenpot upwards together", + "Lift the metal kitchenpot carefully using both arms.", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Hold the metal kitchenpot and lift upward", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Hold and raise the smooth gray kitchenpot together", + "Securely lift the cylindrical kitchenpot together", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Hold and raise the medium-sized kitchenpot together", + "Bring the cylindrical kitchenpot up together", + "Pick up the dark gray stove kitchenpot with both arms", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Grab the smooth gray kitchenpot using both arms", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Lift the gray kitchenpot steadily with support", + "Both arms lift the smooth gray kitchenpot upright", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Place hands on the smooth gray kitchenpot, then lift.", + "Lift the metal kitchenpot up together", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Secure the round kitchenpot with handles and lift it up", + "Raise the gray kitchenpot with strong support" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode12.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..6e80e4207eedd7c7393eac52a90442c7f45c8a25 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the cylindrical kitchenpot carefully using arms", + "Use both arms to raise the medium kitchenpot made of metal.", + "Grab the medium kitchenpot made of metal and lift together", + "Hold and raise the gray kitchenpot together", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Carry the dark gray stove kitchenpot securely using arms", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Bring the cooking kitchenpot with side grips up together", + "Hold the kitchenpot with smooth exterior with both arms", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Lift the gray kitchenpot upwards with care", + "Securely lift the gray kitchenpot together", + "Take hold of the medium kitchenpot made of metal and lift up", + "Use both arms to raise the metal kitchenpot", + "Grab the smooth gray kitchenpot using both arms", + "Raise the smooth gray kitchenpot using both arms", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Lift the dark gray stove kitchenpot upward and hold it", + "Lift the medium-sized kitchenpot steadily using arms", + "Hold the gray kitchenpot firmly and lift it", + "Lift the medium kitchenpot made of metal up using your arms", + "Lift the smooth gray kitchenpot upward with both arms", + "Secure the medium kitchenpot made of metal and lift upward.", + "Hold the medium kitchenpot made of metal firmly with arms", + "Secure the gray kitchenpot and lift it up", + "Raise the gray kitchenpot together using arms", + "Grip the smooth gray kitchenpot firmly and lift", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Hold and raise the round kitchenpot with handles together", + "Grasp the metal kitchenpot and elevate together.", + "Lift the cylindrical kitchenpot steadily with support", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Raise the round kitchenpot with handles steadily using arms", + "Raise the smooth gray kitchenpot securely with arms", + "Both arms lift the round kitchenpot with handles upright", + "Lift the cooking kitchenpot with side grips up together", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Support the cooking kitchenpot with side grips and raise it upward", + "Grab the metal kitchenpot and lift it up", + "Raise the dark gray stove kitchenpot with strong support", + "Grab the smooth gray kitchenpot and lift it upwards", + "Raise and hold the medium kitchenpot made of metal together", + "Raise the cooking kitchenpot with side grips together with arms", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Hold the gray kitchenpot and lift upward", + "Use arms to lift the cylindrical kitchenpot upward", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Bring the gray kitchenpot upwards together", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Grab the medium kitchenpot made of metal and lift together", + "Hold and raise the kitchenpot with smooth exterior together", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Carry the metal kitchenpot securely using arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Bring the smooth gray kitchenpot up together", + "Hold the round kitchenpot with handles with both arms", + "Hold the gray kitchenpot firmly, then lift.", + "Lift the cylindrical kitchenpot upwards with care", + "Securely lift the medium kitchenpot made of metal together", + "Take hold of the metal kitchenpot and lift up", + "Use both arms to raise the kitchenpot with smooth exterior", + "Grab the gray kitchenpot using both arms", + "Raise the smooth gray kitchenpot using both arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Lift the medium kitchenpot made of metal steadily using arms", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Lift the gray kitchenpot up using your arms", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Secure the cylindrical kitchenpot and lift upward.", + "Hold the dark gray stove kitchenpot firmly with arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Raise the kitchenpot with smooth exterior together using arms", + "Grip the metal kitchenpot firmly and lift", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Hold and raise the kitchenpot for boiling and cooking together", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Lift the cooking kitchenpot with side grips steadily with support", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Raise the cylindrical kitchenpot steadily using arms", + "Raise the cooking kitchenpot with side grips securely with arms", + "Both arms lift the round kitchenpot with handles upright", + "Lift the gray kitchenpot up together", + "Place hands on the smooth gray kitchenpot, then lift.", + "Pick up the kitchenpot with smooth exterior with both arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Grab the smooth gray kitchenpot and lift it up", + "Raise the gray kitchenpot with strong support", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Raise and hold the dark gray stove kitchenpot together", + "Raise the kitchenpot with smooth exterior together with arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Raise the dark gray stove kitchenpot upward with both hands", + "Bring the kitchenpot for boiling and cooking upwards together" + ], + "unseen": [ + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode13.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..b53a1525f393a6329baa46b38e64b43bd589572f --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray kitchenpot upward with both arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Lift the smooth gray kitchenpot using both arms now.", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Raise and hold the medium kitchenpot made of metal together", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Raise the dark gray stove kitchenpot together with arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Secure the dark gray stove kitchenpot and lift upward.", + "Raise the dark gray stove kitchenpot evenly with arms", + "Both arms lift the metal kitchenpot upright", + "Grab the medium-sized kitchenpot and lift it up", + "Raise the dark gray stove kitchenpot securely with arms", + "Carry the smooth gray kitchenpot securely using arms", + "Grab the medium kitchenpot made of metal using both arms", + "Place hands on the cylindrical kitchenpot, then lift.", + "Bring the smooth gray kitchenpot upwards together", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Raise the medium kitchenpot made of metal using both arms", + "Raise the smooth gray kitchenpot steadily using arms", + "Bring the kitchenpot with smooth exterior up together", + "Support the dark gray stove kitchenpot and raise it upward", + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the metal kitchenpot steadily with support", + "Raise the cooking kitchenpot with side grips together using arms", + "Hold the smooth gray kitchenpot with both arms", + "Grab the dark gray stove kitchenpot and lift together", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Lift the cooking kitchenpot with side grips up using your arms", + "Use both arms to raise the smooth gray kitchenpot.", + "Engage arms to grip and lift the gray kitchenpot.", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Securely lift the cooking kitchenpot with side grips together", + "Use arms to lift the dark gray stove kitchenpot upward", + "Hold the cylindrical kitchenpot and lift upward", + "Grip the cylindrical kitchenpot firmly and lift", + "Hold and raise the metal kitchenpot together", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Lift the cylindrical kitchenpot steadily using arms", + "Secure the smooth gray kitchenpot and lift it up", + "Raise the gray kitchenpot upward with both hands", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Use both arms to raise the kitchenpot with smooth exterior", + "Lift the medium-sized kitchenpot up together", + "Lift the medium-sized kitchenpot upward and hold it", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Grab the medium-sized kitchenpot and lift it upwards", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Lift the medium kitchenpot made of metal upward with both arms", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Hold the dark gray stove kitchenpot firmly with arms", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Hold the metal kitchenpot firmly and lift it", + "Raise the cylindrical kitchenpot together with arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Secure the gray kitchenpot and lift upward.", + "Raise the medium-sized kitchenpot evenly with arms", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Grab the medium kitchenpot made of metal and lift it up", + "Raise the gray kitchenpot securely with arms", + "Carry the cooking kitchenpot with side grips securely using arms", + "Grab the metal kitchenpot using both arms", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Bring the kitchenpot for boiling and cooking upwards together", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Raise the medium kitchenpot made of metal using both arms", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Bring the medium kitchenpot made of metal up together", + "Support the cooking kitchenpot with side grips and raise it upward", + "Hold and raise the dark gray stove kitchenpot together", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Raise the smooth gray kitchenpot together using arms", + "Hold the kitchenpot with smooth exterior with both arms", + "Grab the round kitchenpot with handles and lift together", + "Lift the medium kitchenpot made of metal carefully using arms", + "Lift the cooking kitchenpot with side grips up using your arms", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Securely lift the gray cylindrical metal kitchenpot together", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the kitchenpot with smooth exterior and lift upward", + "Grip the medium kitchenpot made of metal firmly and lift", + "Hold and raise the gray kitchenpot together", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Lift the medium-sized kitchenpot steadily using arms", + "Secure the round kitchenpot with handles and lift it up", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Raise the round kitchenpot with handles with strong support", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Lift the round kitchenpot with handles up together", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Take hold of the gray kitchenpot and lift up", + "Grab the cylindrical kitchenpot and lift it upwards", + "Hold the kitchenpot with smooth exterior firmly, then lift." + ], + "unseen": [ + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode14.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..c9987433a90334a1e6f983426b9378bb9a90ca52 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Securely lift the medium kitchenpot made of metal together", + "Lift the metal kitchenpot upwards with care", + "Bring the cooking kitchenpot with side grips up together", + "Secure the dark gray stove kitchenpot and lift upward.", + "Raise the dark gray stove kitchenpot together with arms", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Secure the cylindrical kitchenpot and lift it up", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Raise the dark gray stove kitchenpot with strong support", + "Hold and raise the kitchenpot for boiling and cooking together", + "Grip the medium-sized kitchenpot firmly and lift", + "Use arms to lift the gray kitchenpot upward", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Lift the gray kitchenpot using both arms now.", + "Support the cylindrical kitchenpot and raise it upward", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Both arms lift the kitchenpot with smooth exterior upright", + "Raise the dark gray stove kitchenpot together using arms", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Grab the cylindrical kitchenpot and lift it upwards", + "Lift the kitchenpot with smooth exterior up using your arms", + "Use both arms to raise the medium-sized kitchenpot", + "Lift the medium kitchenpot made of metal up together", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Grab the cylindrical kitchenpot using both arms", + "Hold the gray kitchenpot firmly and move upward.", + "Place hands on the medium-sized kitchenpot, then lift.", + "Hold and raise the medium kitchenpot made of metal together", + "Grab the kitchenpot with smooth exterior and lift it up", + "Lift the smooth gray kitchenpot steadily with support", + "Bring the smooth gray kitchenpot upwards together", + "Lift the metal kitchenpot steadily using arms", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Hold the gray kitchenpot firmly, then lift.", + "Raise the gray kitchenpot using both arms", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "With arms, raise the metal kitchenpot upward slowly.", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Hold the gray kitchenpot with both arms", + "Hold the metal kitchenpot firmly and lift it", + "Pick up the medium kitchenpot made of metal with both arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Lift the round kitchenpot with handles carefully using both arms.", + "Raise and hold the kitchenpot for boiling and cooking together", + "Hold the cylindrical kitchenpot firmly with arms", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Grab the cylindrical kitchenpot and lift together", + "Carry the kitchenpot with smooth exterior securely using arms", + "Securely lift the kitchenpot with smooth exterior together", + "Lift the smooth gray kitchenpot upwards with care", + "Bring the gray cylindrical metal kitchenpot up together", + "Secure the cylindrical kitchenpot and lift upward.", + "Raise the medium-sized kitchenpot together with arms", + "Lift the gray kitchenpot upward with both arms", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Secure the cylindrical kitchenpot and lift it up", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Raise the smooth gray kitchenpot with strong support", + "Hold and raise the medium-sized kitchenpot together", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Use arms to lift the gray kitchenpot upward", + "Use both arms to raise the dark gray stove kitchenpot.", + "Lift the medium-sized kitchenpot using both arms now.", + "Support the gray kitchenpot and raise it upward", + "Raise the medium-sized kitchenpot securely with arms", + "Both arms lift the kitchenpot with smooth exterior upright", + "Raise the kitchenpot with smooth exterior together using arms", + "Raise the metal kitchenpot upward with both hands", + "Grab the medium-sized kitchenpot and lift it upwards", + "Lift the cylindrical kitchenpot up using your arms", + "Use both arms to raise the smooth gray kitchenpot", + "Lift the medium kitchenpot made of metal up together", + "Hold the metal kitchenpot and lift upward", + "Grab the gray kitchenpot using both arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Hold and raise the metal kitchenpot together", + "Grab the cylindrical kitchenpot and lift it up", + "Lift the medium-sized kitchenpot steadily with support", + "Bring the cooking kitchenpot with side grips upwards together", + "Lift the round kitchenpot with handles steadily using arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Raise the medium-sized kitchenpot using both arms", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Grasp the gray kitchenpot and elevate together.", + "Lift the smooth gray kitchenpot carefully using arms", + "Hold the metal kitchenpot with both arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Pick up the medium kitchenpot made of metal with both arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Raise and hold the smooth gray kitchenpot together", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Grab the kitchenpot for boiling and cooking and lift together" + ], + "unseen": [ + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode15.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..f49b75888d9c8e8ddf17bd3ae59488153e99fda3 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and raise the metal kitchenpot together", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Hold the dark gray stove kitchenpot and lift upward", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Hold and raise the medium kitchenpot made of metal together", + "Bring the cylindrical kitchenpot upwards together", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Pick up the smooth gray kitchenpot with both arms", + "Raise the round kitchenpot with handles securely with arms", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Hold the smooth gray kitchenpot firmly and lift it", + "Raise and hold the medium kitchenpot made of metal together", + "Grip the metal kitchenpot firmly and lift", + "Bring the gray cylindrical metal kitchenpot up together", + "Grab the medium-sized kitchenpot and lift it up", + "Raise the medium-sized kitchenpot upward with both hands", + "Support the dark gray stove kitchenpot and raise it upward", + "Grab the metal kitchenpot and lift together", + "Lift the round kitchenpot with handles carefully using arms", + "Raise the smooth gray kitchenpot with strong support", + "Lift the medium-sized kitchenpot upwards with care", + "Securely lift the smooth gray kitchenpot together", + "Hold the dark gray stove kitchenpot with both arms", + "Raise the metal kitchenpot using both arms", + "Lift the round kitchenpot with handles upward with both arms", + "Lift the round kitchenpot with handles upward and hold it", + "Secure the metal kitchenpot and lift upward.", + "Lift the cooking kitchenpot with side grips up together", + "Grab the kitchenpot for boiling and cooking using both arms", + "Raise the gray kitchenpot together with arms", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Hold the medium kitchenpot made of metal firmly with arms", + "Carry the smooth gray kitchenpot securely using arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Use both arms to raise the cooking kitchenpot with side grips", + "Both arms lift the gray kitchenpot upright", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Place hands on the medium-sized kitchenpot, then lift.", + "Take hold of the medium-sized kitchenpot and lift up", + "Lift the metal kitchenpot using both arms now.", + "Lift the gray kitchenpot steadily with support", + "Raise the medium kitchenpot made of metal evenly with arms", + "Hold and raise the medium kitchenpot made of metal together", + "Grab the smooth gray kitchenpot and lift it upwards", + "Lift the smooth gray kitchenpot up using your arms", + "Lift the metal kitchenpot steadily using arms", + "Hold the medium kitchenpot made of metal and lift upward", + "Hold the gray kitchenpot firmly, then lift.", + "Hold and raise the kitchenpot for boiling and cooking together", + "Bring the metal kitchenpot upwards together", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Hold the metal kitchenpot firmly and move upward.", + "Use arms to lift the round kitchenpot with handles upward", + "Secure the cooking kitchenpot with side grips and lift it up", + "Hold the round kitchenpot with handles firmly and lift it", + "Raise and hold the cylindrical kitchenpot together", + "Grip the gray kitchenpot firmly and lift", + "Bring the cooking kitchenpot with side grips up together", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Raise the medium kitchenpot made of metal upward with both hands", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Lift the cylindrical kitchenpot carefully using arms", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Lift the medium-sized kitchenpot upwards with care", + "Securely lift the gray cylindrical metal kitchenpot together", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Raise the cooking kitchenpot with side grips using both arms", + "Lift the round kitchenpot with handles upward with both arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Lift the medium-sized kitchenpot up together", + "Grab the smooth gray kitchenpot using both arms", + "Raise the round kitchenpot with handles together with arms", + "Grasp the medium-sized kitchenpot and elevate together.", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Raise the medium kitchenpot made of metal steadily using arms", + "Hold the gray kitchenpot firmly with arms", + "Carry the metal kitchenpot securely using arms", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Both arms lift the cooking kitchenpot with side grips upright", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Place hands on the smooth gray kitchenpot, then lift.", + "Take hold of the metal kitchenpot and lift up", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Lift the cylindrical kitchenpot steadily with support", + "Raise the dark gray stove kitchenpot evenly with arms" + ], + "unseen": [ + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode16.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..5fc6139e0790976a5d997afdb12c86eacf662fae --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Lift the smooth gray kitchenpot upward with both arms", + "Hold and raise the round kitchenpot with handles together", + "Raise the medium kitchenpot made of metal together using arms", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Grab the cylindrical kitchenpot and lift it up", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Hold the round kitchenpot with handles with both arms", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Use both arms to raise the metal kitchenpot", + "Raise the kitchenpot for boiling and cooking with strong support", + "Raise the medium-sized kitchenpot steadily using arms", + "Support the medium-sized kitchenpot and raise it upward", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Both arms lift the metal kitchenpot upright", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Secure the metal kitchenpot and lift it up", + "Lift the metal kitchenpot upward and hold it", + "Grab the cylindrical kitchenpot and lift together", + "Use both arms to raise the medium kitchenpot made of metal.", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Lift the smooth gray kitchenpot steadily with support", + "Grab the medium-sized kitchenpot and lift it upwards", + "Take hold of the medium-sized kitchenpot and lift up", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Lift the cylindrical kitchenpot carefully using arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Grab the cooking kitchenpot with side grips using both arms", + "Hold and raise the medium kitchenpot made of metal together", + "Raise the kitchenpot for boiling and cooking using both arms", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Securely lift the medium kitchenpot made of metal together", + "Lift the kitchenpot with smooth exterior up using your arms", + "Hold the medium-sized kitchenpot and lift upward", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Grip the dark gray stove kitchenpot firmly and lift", + "Grasp the smooth gray kitchenpot and elevate together.", + "Bring the cylindrical kitchenpot up together", + "Hold the medium-sized kitchenpot firmly and lift it", + "Lift the round kitchenpot with handles up together", + "Lift the kitchenpot with smooth exterior upwards with care", + "Raise and hold the medium-sized kitchenpot together", + "Pick up the metal kitchenpot with careful lifting", + "Lift the gray kitchenpot upward with both arms", + "Hold and raise the cylindrical kitchenpot together", + "Raise the cylindrical kitchenpot together using arms", + "Place hands on the cylindrical kitchenpot, then lift.", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Grab the round kitchenpot with handles and lift it up", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Hold the gray kitchenpot with both arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Use both arms to raise the medium kitchenpot made of metal", + "Raise the smooth gray kitchenpot with strong support", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Both arms lift the round kitchenpot with handles upright", + "Raise the medium kitchenpot made of metal together with arms", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Lift the dark gray stove kitchenpot upward and hold it", + "Grab the kitchenpot with smooth exterior and lift together", + "Use both arms to raise the gray kitchenpot.", + "Raise the medium-sized kitchenpot securely with arms", + "Lift the cylindrical kitchenpot steadily with support", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Bring the smooth gray kitchenpot upwards together", + "Carry the metal kitchenpot securely using arms", + "Pick up the round kitchenpot with handles with both arms", + "Hold the round kitchenpot with handles firmly with arms", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Hold and raise the medium-sized kitchenpot together", + "Raise the kitchenpot with smooth exterior using both arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Lift the dark gray stove kitchenpot steadily using arms", + "Securely lift the gray kitchenpot together", + "Lift the gray kitchenpot up using your arms", + "Hold the kitchenpot for boiling and cooking and lift upward", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Grip the medium-sized kitchenpot firmly and lift", + "Grasp the round kitchenpot with handles and elevate together.", + "Bring the cylindrical kitchenpot up together", + "Hold the gray kitchenpot firmly and lift it", + "Lift the smooth gray kitchenpot up together", + "Lift the medium kitchenpot made of metal upwards with care", + "Raise and hold the gray cylindrical metal kitchenpot together" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode17.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..322ce4d1b9ea4ac913d11be312afd1bc6a83367e --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the medium kitchenpot made of metal upward and hold it", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Raise and hold the dark gray stove kitchenpot together", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Both arms lift the round kitchenpot with handles upright", + "Grip the kitchenpot with smooth exterior firmly and lift", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Raise the gray kitchenpot securely with arms", + "Raise the dark gray stove kitchenpot with strong support", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Raise the cylindrical kitchenpot upward with both hands", + "Raise the smooth gray kitchenpot together with arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Lift the medium-sized kitchenpot upward with both arms", + "Lift the medium-sized kitchenpot up using your arms", + "Hold and raise the medium-sized kitchenpot together", + "Raise the dark gray stove kitchenpot together using arms", + "Hold the gray kitchenpot and lift upward", + "Lift the cylindrical kitchenpot up together", + "Grab the round kitchenpot with handles and lift it up", + "Grab the smooth gray kitchenpot and lift together", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Raise the smooth gray kitchenpot evenly with arms", + "Raise the gray kitchenpot using both arms", + "Use both arms to raise the gray kitchenpot", + "Lift the dark gray stove kitchenpot carefully using arms", + "Bring the gray kitchenpot upwards together", + "Lift the smooth gray kitchenpot using both arms now.", + "Secure the dark gray stove kitchenpot and lift upward.", + "Secure the gray kitchenpot and lift it up", + "Pick up the cylindrical kitchenpot with both arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Pick up the metal kitchenpot with careful lifting", + "Use both arms to raise the medium kitchenpot made of metal.", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Bring the medium-sized kitchenpot up together", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Grab the kitchenpot with smooth exterior using both arms", + "Hold the cylindrical kitchenpot firmly with arms", + "Securely lift the smooth gray kitchenpot together", + "Carry the kitchenpot with smooth exterior securely using arms", + "Support the round kitchenpot with handles and raise it upward", + "Lift the cylindrical kitchenpot upward and hold it", + "Take hold of the gray kitchenpot and lift up", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Raise and hold the kitchenpot for boiling and cooking together", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Grip the metal kitchenpot firmly and lift", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Raise the cooking kitchenpot with side grips with strong support", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Hold the kitchenpot with smooth exterior with both arms", + "Grasp the gray kitchenpot and elevate together.", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Raise the smooth gray kitchenpot together with arms", + "Hold and raise the round kitchenpot with handles together", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Hold and raise the medium kitchenpot made of metal together", + "Raise the medium-sized kitchenpot together using arms", + "Hold the smooth gray kitchenpot and lift upward", + "Lift the kitchenpot for boiling and cooking up together", + "Grab the smooth gray kitchenpot and lift it up", + "Grab the metal kitchenpot and lift together", + "Lift the medium-sized kitchenpot steadily with support", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise the medium kitchenpot made of metal using both arms", + "Use both arms to raise the medium kitchenpot made of metal", + "Lift the cylindrical kitchenpot carefully using arms", + "Bring the smooth gray kitchenpot upwards together", + "Lift the gray kitchenpot using both arms now.", + "Secure the medium-sized kitchenpot and lift upward.", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Pick up the smooth gray kitchenpot with both arms", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Pick up the round kitchenpot with handles with careful lifting", + "Use both arms to raise the gray kitchenpot.", + "Lift the smooth gray kitchenpot upwards with care", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Raise the dark gray stove kitchenpot steadily using arms", + "Bring the round kitchenpot with handles up together", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Grab the cooking kitchenpot with side grips using both arms", + "Hold the gray kitchenpot firmly with arms", + "Securely lift the gray kitchenpot together", + "Carry the round kitchenpot with handles securely using arms", + "Support the smooth gray kitchenpot and raise it upward" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode18.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..46d2207d33ac6d37849756c75cc6677ae4f002a0 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the dark gray stove kitchenpot steadily using arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the medium kitchenpot made of metal together using arms", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Raise the kitchenpot with smooth exterior securely with arms", + "Raise and hold the round kitchenpot with handles together", + "Lift the medium-sized kitchenpot up together", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Both arms lift the gray kitchenpot upright", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Pick up the metal kitchenpot with careful lifting", + "Hold the medium-sized kitchenpot firmly and lift it", + "Bring the medium-sized kitchenpot up together", + "Grab the medium-sized kitchenpot and lift together", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Raise the gray kitchenpot upward with both hands", + "Bring the dark gray stove kitchenpot upwards together", + "Secure the smooth gray kitchenpot and lift upward.", + "Lift the medium kitchenpot made of metal upward with both arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Secure the kitchenpot with smooth exterior and lift it up", + "Hold and raise the medium-sized kitchenpot together", + "Lift the dark gray stove kitchenpot using both arms now.", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Hold the gray kitchenpot firmly with arms", + "Support the cooking kitchenpot with side grips and raise it upward", + "Use arms to lift the dark gray stove kitchenpot upward", + "Hold the smooth gray kitchenpot with both arms", + "Raise the kitchenpot for boiling and cooking with strong support", + "Engage arms to grip and lift the metal kitchenpot.", + "Hold the metal kitchenpot firmly, then lift.", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Lift the metal kitchenpot carefully using both arms.", + "Lift the kitchenpot for boiling and cooking steadily with support", + "With arms, raise the gray kitchenpot upward slowly.", + "Securely lift the gray kitchenpot together", + "Grab the round kitchenpot with handles and lift it upwards", + "Grab the kitchenpot with smooth exterior and lift it up", + "Lift the gray kitchenpot up using your arms", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Grip the cylindrical kitchenpot firmly and lift", + "Raise the kitchenpot with smooth exterior together with arms", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Pick up the medium kitchenpot made of metal with both arms", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Raise the dark gray stove kitchenpot using both arms", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Hold and raise the cylindrical kitchenpot together", + "Raise the kitchenpot with smooth exterior together using arms", + "Carry the round kitchenpot with handles securely using arms", + "Raise the smooth gray kitchenpot securely with arms", + "Raise and hold the metal kitchenpot together", + "Lift the cooking kitchenpot with side grips up together", + "Hold the kitchenpot with smooth exterior and lift upward", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Lift the metal kitchenpot upwards with care", + "Raise the round kitchenpot with handles evenly with arms", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Hold the cylindrical kitchenpot firmly and lift it", + "Bring the medium-sized kitchenpot up together", + "Grab the gray kitchenpot and lift together", + "Lift the gray kitchenpot carefully using arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Bring the medium kitchenpot made of metal upwards together", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Lift the dark gray stove kitchenpot upward with both arms", + "Grasp the round kitchenpot with handles and elevate together.", + "Secure the round kitchenpot with handles and lift it up", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Grab the medium kitchenpot made of metal using both arms", + "Lift the medium-sized kitchenpot steadily using arms", + "Hold the medium kitchenpot made of metal firmly with arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Use arms to lift the gray kitchenpot upward", + "Hold the metal kitchenpot with both arms", + "Raise the kitchenpot for boiling and cooking with strong support", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Place hands on the metal kitchenpot, then lift.", + "Lift the smooth gray kitchenpot upward and hold it", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Lift the cooking kitchenpot with side grips steadily with support", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Securely lift the gray cylindrical metal kitchenpot together", + "Grab the medium-sized kitchenpot and lift it upwards", + "Grab the metal kitchenpot and lift it up", + "Lift the medium kitchenpot made of metal up using your arms", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Grip the dark gray stove kitchenpot firmly and lift", + "Raise the round kitchenpot with handles together with arms", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Use both arms to raise the medium kitchenpot made of metal.", + "Raise the medium-sized kitchenpot using both arms" + ], + "unseen": [ + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode19.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..24b49eec792f6d387add4cc1b9490676b3972a9c --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Lift the round kitchenpot with handles steadily using arms", + "Hold and raise the smooth gray kitchenpot together", + "Use arms to lift the gray kitchenpot upward", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Use both arms to raise the metal kitchenpot", + "Take hold of the medium kitchenpot made of metal and lift up", + "Hold the metal kitchenpot firmly and move upward.", + "Raise the gray kitchenpot using both arms", + "Lift the metal kitchenpot carefully using arms", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Raise the gray kitchenpot securely with arms", + "Hold the round kitchenpot with handles and lift upward", + "Bring the gray cylindrical metal kitchenpot up together", + "Bring the kitchenpot for boiling and cooking upwards together", + "Grip the smooth gray kitchenpot firmly and lift", + "Hold and raise the kitchenpot with smooth exterior together", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Raise the round kitchenpot with handles together with arms", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Raise and hold the medium-sized kitchenpot together", + "Lift the gray kitchenpot up together", + "Lift the metal kitchenpot upwards with care", + "Grasp the smooth gray kitchenpot and elevate together.", + "Pick up the medium-sized kitchenpot with both arms", + "Raise the cylindrical kitchenpot upward with both hands", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Secure the medium kitchenpot made of metal and lift it up", + "Support the gray kitchenpot and raise it upward", + "Use both arms to raise the gray kitchenpot.", + "Grab the medium-sized kitchenpot using both arms", + "Lift the metal kitchenpot upward and hold it", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Carry the cylindrical kitchenpot securely using arms", + "Securely lift the cylindrical kitchenpot together", + "Secure the gray kitchenpot and lift upward.", + "Hold the gray kitchenpot firmly with arms", + "Raise the kitchenpot for boiling and cooking with strong support", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Lift the medium kitchenpot made of metal using both arms now.", + "Raise the smooth gray kitchenpot evenly with arms", + "Grab the kitchenpot for boiling and cooking and lift together", + "Hold the cooking kitchenpot with side grips with both arms", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Lift the medium-sized kitchenpot upward with both arms", + "Grab the cylindrical kitchenpot and lift it up", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Raise the metal kitchenpot together using arms", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Lift the smooth gray kitchenpot steadily using arms", + "Hold and raise the cylindrical kitchenpot together", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Use both arms to raise the smooth gray kitchenpot", + "Take hold of the medium kitchenpot made of metal and lift up", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Raise the medium-sized kitchenpot using both arms", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Lift the round kitchenpot with handles up using your arms", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Raise the cylindrical kitchenpot securely with arms", + "Hold the medium-sized kitchenpot and lift upward", + "Bring the round kitchenpot with handles up together", + "Bring the cooking kitchenpot with side grips upwards together", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Hold and raise the dark gray stove kitchenpot together", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Raise the medium-sized kitchenpot together with arms", + "Both arms lift the gray kitchenpot upright", + "Raise and hold the medium-sized kitchenpot together", + "Lift the smooth gray kitchenpot up together", + "Lift the medium kitchenpot made of metal upwards with care", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Pick up the cooking kitchenpot with side grips with both arms", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Secure the cylindrical kitchenpot and lift it up", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Use both arms to raise the smooth gray kitchenpot.", + "Grab the smooth gray kitchenpot using both arms", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Raise the medium kitchenpot made of metal steadily using arms", + "Carry the gray kitchenpot securely using arms", + "Securely lift the round kitchenpot with handles together", + "Secure the medium-sized kitchenpot and lift upward.", + "Hold the smooth gray kitchenpot firmly with arms", + "Raise the round kitchenpot with handles with strong support", + "Place hands on the medium-sized kitchenpot, then lift.", + "Lift the medium kitchenpot made of metal steadily with support", + "Lift the metal kitchenpot using both arms now.", + "Raise the medium kitchenpot made of metal evenly with arms", + "Grab the gray kitchenpot and lift together", + "Hold the kitchenpot with smooth exterior with both arms", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Lift the round kitchenpot with handles upward with both arms", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Raise the medium-sized kitchenpot together using arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode2.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..02922c7ccc4b9f5fb0afeaa5ce8e772a7442ca23 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Hold the round kitchenpot with handles firmly and lift it", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Lift the cooking kitchenpot with side grips up together", + "Lift the kitchenpot with smooth exterior steadily with support", + "Bring the round kitchenpot with handles upwards together", + "Carry the gray kitchenpot securely using arms", + "Lift the cylindrical kitchenpot steadily using arms", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Raise and hold the medium kitchenpot made of metal together", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the cylindrical kitchenpot upward and hold it", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Raise the gray kitchenpot upward with both hands", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Use both arms to raise the medium-sized kitchenpot.", + "Hold the smooth gray kitchenpot and lift upward", + "Secure the metal kitchenpot and lift it up", + "Hold the metal kitchenpot with both arms", + "Grab the metal kitchenpot and lift together", + "Grip the smooth gray kitchenpot firmly and lift", + "With arms, raise the metal kitchenpot upward slowly.", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Securely lift the smooth gray kitchenpot together", + "Pick up the round kitchenpot with handles with careful lifting", + "Grab the medium kitchenpot made of metal and lift it up", + "Use arms to lift the medium-sized kitchenpot upward", + "Pick up the medium-sized kitchenpot with both arms", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the dark gray stove kitchenpot carefully using arms", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Hold the cylindrical kitchenpot firmly with arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Lift the dark gray stove kitchenpot upwards with care", + "Take hold of the round kitchenpot with handles and lift up", + "Raise the smooth gray kitchenpot steadily using arms", + "Raise the medium-sized kitchenpot securely with arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Use both arms to raise the cooking kitchenpot with side grips", + "Lift the round kitchenpot with handles up using your arms", + "Lift the gray kitchenpot using both arms now.", + "Grab the gray kitchenpot using both arms", + "Raise the gray kitchenpot together with arms", + "Raise the medium-sized kitchenpot using both arms", + "Both arms lift the dark gray stove kitchenpot upright", + "Raise the gray kitchenpot evenly with arms", + "Grasp the gray kitchenpot and elevate together.", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Grab the metal kitchenpot and lift it upwards", + "Lift the round kitchenpot with handles up together", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Bring the gray kitchenpot upwards together", + "Carry the medium-sized kitchenpot securely using arms", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Raise the dark gray stove kitchenpot together using arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Raise and hold the cooking kitchenpot with side grips together", + "Hold and raise the round kitchenpot with handles together", + "Lift the dark gray stove kitchenpot upward and hold it", + "Secure the metal kitchenpot and lift upward.", + "Raise the metal kitchenpot upward with both hands", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Hold the cylindrical kitchenpot and lift upward", + "Secure the round kitchenpot with handles and lift it up", + "Hold the kitchenpot for boiling and cooking with both arms", + "Grab the gray kitchenpot and lift together", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Lift the medium kitchenpot made of metal upward with both arms", + "Raise the smooth gray kitchenpot with strong support", + "Securely lift the smooth gray kitchenpot together", + "Pick up the cylindrical kitchenpot with careful lifting", + "Grab the kitchenpot with smooth exterior and lift it up", + "Use arms to lift the gray kitchenpot upward", + "Pick up the medium kitchenpot made of metal with both arms", + "Hold and raise the cylindrical kitchenpot together", + "Lift the smooth gray kitchenpot carefully using arms", + "Place hands on the round kitchenpot with handles, then lift.", + "Support the cylindrical kitchenpot and raise it upward", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Lift the medium kitchenpot made of metal upwards with care", + "Take hold of the cylindrical kitchenpot and lift up", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Raise the metal kitchenpot securely with arms", + "Bring the round kitchenpot with handles up together", + "Use both arms to raise the kitchenpot with smooth exterior", + "Lift the gray kitchenpot up using your arms", + "Lift the smooth gray kitchenpot using both arms now.", + "Grab the cylindrical kitchenpot using both arms", + "Raise the kitchenpot with smooth exterior together with arms", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Both arms lift the smooth gray kitchenpot upright", + "Raise the gray cylindrical metal kitchenpot evenly with arms" + ], + "unseen": [ + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode20.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..f4730bba38e306c88945b05a910a5a42cb89e04a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth gray kitchenpot upwards with care", + "Hold the gray kitchenpot firmly and move upward.", + "Lift the medium kitchenpot made of metal using both arms now.", + "Grab the kitchenpot for boiling and cooking using both arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Lift the dark gray stove kitchenpot upward with both arms", + "Hold the medium-sized kitchenpot and lift upward", + "Raise the gray kitchenpot together using arms", + "Raise the smooth gray kitchenpot securely with arms", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Raise the cooking kitchenpot with side grips using both arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Take hold of the metal kitchenpot and lift up", + "Pick up the metal kitchenpot with both arms", + "Raise the kitchenpot with smooth exterior together with arms", + "Secure the medium-sized kitchenpot and lift upward.", + "Grab the kitchenpot for boiling and cooking and lift together", + "Carry the medium kitchenpot made of metal securely using arms", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Use arms to lift the smooth gray kitchenpot upward", + "Support the metal kitchenpot and raise it upward", + "Raise the medium-sized kitchenpot with strong support", + "Grasp the cylindrical kitchenpot and elevate together.", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Hold the kitchenpot with smooth exterior with both arms", + "Lift the kitchenpot for boiling and cooking up together", + "Hold and raise the medium-sized kitchenpot together", + "Grab the cylindrical kitchenpot and lift it upwards", + "Grab the cylindrical kitchenpot and lift it up", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Both arms lift the metal kitchenpot upright", + "Lift the dark gray stove kitchenpot steadily with support", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Raise the medium kitchenpot made of metal steadily using arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Securely lift the round kitchenpot with handles together", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Pick up the gray kitchenpot with careful lifting", + "Secure the metal kitchenpot and lift it up", + "Lift the dark gray stove kitchenpot steadily using arms", + "Use both arms to raise the cylindrical kitchenpot", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Hold the smooth gray kitchenpot firmly with arms", + "Raise and hold the smooth gray kitchenpot together", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Bring the kitchenpot with smooth exterior up together", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Hold the round kitchenpot with handles firmly and move upward.", + "Lift the gray kitchenpot using both arms now.", + "Grab the dark gray stove kitchenpot using both arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Hold the cylindrical kitchenpot and lift upward", + "Raise the gray kitchenpot together using arms", + "Raise the cylindrical kitchenpot securely with arms", + "With arms, raise the metal kitchenpot upward slowly.", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Raise the dark gray stove kitchenpot using both arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Take hold of the metal kitchenpot and lift up", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Raise the round kitchenpot with handles together with arms", + "Secure the gray kitchenpot and lift upward.", + "Grab the kitchenpot with smooth exterior and lift together", + "Carry the metal kitchenpot securely using arms", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Support the cylindrical kitchenpot and raise it upward", + "Raise the kitchenpot for boiling and cooking with strong support", + "Grasp the gray kitchenpot and elevate together.", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Hold the cooking kitchenpot with side grips with both arms", + "Lift the kitchenpot for boiling and cooking up together", + "Hold and raise the medium-sized kitchenpot together", + "Grab the smooth gray kitchenpot and lift it upwards", + "Grab the metal kitchenpot and lift it up", + "Use both arms to raise the cylindrical kitchenpot.", + "Both arms lift the cylindrical kitchenpot upright", + "Lift the round kitchenpot with handles steadily with support", + "Grip the round kitchenpot with handles firmly and lift", + "Raise the medium kitchenpot made of metal steadily using arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Securely lift the kitchenpot for boiling and cooking together", + "Hold the gray kitchenpot firmly and lift it", + "Lift the gray kitchenpot carefully using arms", + "Hold and raise the cylindrical kitchenpot together", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Lift the medium kitchenpot made of metal up using your arms", + "Raise the gray kitchenpot evenly with arms", + "Hold the metal kitchenpot firmly with arms", + "Raise and hold the dark gray stove kitchenpot together", + "Lift the medium kitchenpot made of metal upward and hold it", + "Bring the dark gray stove kitchenpot up together" + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode21.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..e8e0a3f79c0d804a7b020fc85c799f2b86a9e389 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the round kitchenpot with handles steadily using arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Both arms lift the cylindrical kitchenpot upright", + "Grab the cooking kitchenpot with side grips and lift together", + "Use both arms to raise the smooth gray kitchenpot.", + "Raise and hold the medium-sized kitchenpot together", + "Hold and raise the round kitchenpot with handles together", + "Use arms to lift the smooth gray kitchenpot upward", + "Lift the metal kitchenpot upwards with care", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Bring the gray kitchenpot upwards together", + "Lift the medium-sized kitchenpot upward with both arms", + "Hold the dark gray stove kitchenpot with both arms", + "Raise the medium kitchenpot made of metal with strong support", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the round kitchenpot with handles steadily with support", + "Raise the smooth gray kitchenpot together with arms", + "Raise the smooth gray kitchenpot steadily using arms", + "Raise the round kitchenpot with handles using both arms", + "Raise the kitchenpot with smooth exterior securely with arms", + "Hold the cylindrical kitchenpot firmly with arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "Pick up the medium-sized kitchenpot with careful lifting", + "Hold the metal kitchenpot and lift upward", + "Lift the cylindrical kitchenpot using both arms now.", + "Grab the smooth gray kitchenpot and lift it up", + "Raise the cylindrical kitchenpot together using arms", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Hold the metal kitchenpot firmly and lift it", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Securely lift the kitchenpot with smooth exterior together", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Secure the smooth gray kitchenpot and lift it up", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Lift the smooth gray kitchenpot up using your arms", + "Carry the gray kitchenpot securely using arms", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Secure the dark gray stove kitchenpot and lift upward.", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Use both arms to raise the dark gray stove kitchenpot", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Bring the metal kitchenpot up together", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Lift the smooth gray kitchenpot up together", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Lift the medium-sized kitchenpot steadily using arms", + "Raise the gray kitchenpot evenly with arms", + "Both arms lift the gray kitchenpot upright", + "Grab the smooth gray kitchenpot and lift together", + "Use both arms to raise the medium-sized kitchenpot.", + "Raise and hold the kitchenpot with smooth exterior together", + "Hold and raise the cooking kitchenpot with side grips together", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Lift the cooking kitchenpot with side grips upwards with care", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Lift the round kitchenpot with handles upward with both arms", + "Hold the kitchenpot for boiling and cooking with both arms", + "Raise the medium kitchenpot made of metal with strong support", + "Hold and raise the smooth gray kitchenpot together", + "Lift the metal kitchenpot steadily with support", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Raise the smooth gray kitchenpot steadily using arms", + "Raise the cylindrical kitchenpot using both arms", + "Raise the medium kitchenpot made of metal securely with arms", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Pick up the cooking kitchenpot with side grips with both arms", + "Pick up the gray kitchenpot with careful lifting", + "Hold the kitchenpot with smooth exterior and lift upward", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Grab the medium kitchenpot made of metal and lift it up", + "Raise the medium kitchenpot made of metal together using arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Grab the cylindrical kitchenpot using both arms", + "Securely lift the kitchenpot with smooth exterior together", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Lift the round kitchenpot with handles up using your arms", + "Carry the cylindrical kitchenpot securely using arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Secure the gray kitchenpot and lift upward.", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Use both arms to raise the kitchenpot with smooth exterior", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Bring the medium kitchenpot made of metal up together", + "Lift the cylindrical kitchenpot carefully using arms", + "Grasp the round kitchenpot with handles and elevate together.", + "Lift the gray cylindrical metal kitchenpot up together", + "Raise the round kitchenpot with handles upward with both hands" + ], + "unseen": [ + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode22.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..713d23ab3852794c4c4a5f653591fc95ba154945 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Take hold of the metal kitchenpot and lift up", + "Secure the kitchenpot with smooth exterior and lift it up", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Grab the medium-sized kitchenpot and lift it upwards", + "Use both arms to raise the medium-sized kitchenpot", + "Grab the medium-sized kitchenpot and lift together", + "Grab the kitchenpot for boiling and cooking using both arms", + "Securely lift the dark gray stove kitchenpot together", + "Raise the smooth gray kitchenpot with strong support", + "Hold the cylindrical kitchenpot firmly with arms", + "Hold the medium kitchenpot made of metal and lift upward", + "Grasp the metal kitchenpot and elevate together.", + "Hold and raise the medium-sized kitchenpot together", + "Hold the cylindrical kitchenpot firmly and lift it", + "Hold and raise the cylindrical kitchenpot together", + "Carry the kitchenpot with smooth exterior securely using arms", + "Both arms lift the medium kitchenpot made of metal upright", + "Lift the round kitchenpot with handles upward and hold it", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Pick up the kitchenpot with smooth exterior with both arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Lift the cooking kitchenpot with side grips up together", + "Lift the gray kitchenpot upwards with care", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Raise the medium kitchenpot made of metal upward with both hands", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Hold the kitchenpot with smooth exterior with both arms", + "Raise the round kitchenpot with handles securely with arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Lift the gray kitchenpot using both arms now.", + "Bring the gray kitchenpot upwards together", + "Raise the dark gray stove kitchenpot together using arms", + "Secure the metal kitchenpot and lift upward.", + "Raise the medium-sized kitchenpot using both arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Lift the smooth gray kitchenpot steadily using arms", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Lift the medium-sized kitchenpot steadily with support", + "Use both arms to raise the round kitchenpot with handles.", + "Lift the medium-sized kitchenpot up using your arms", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Grip the cylindrical kitchenpot firmly and lift", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Raise the medium kitchenpot made of metal together with arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Bring the medium kitchenpot made of metal up together", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Raise and hold the gray kitchenpot together", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Take hold of the cylindrical kitchenpot and lift up", + "Secure the round kitchenpot with handles and lift it up", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Grab the round kitchenpot with handles and lift it upwards", + "Use both arms to raise the kitchenpot with smooth exterior", + "Grab the dark gray stove kitchenpot and lift together", + "Grab the medium-sized kitchenpot using both arms", + "Securely lift the kitchenpot for boiling and cooking together", + "Raise the kitchenpot with smooth exterior with strong support", + "Hold the medium kitchenpot made of metal firmly with arms", + "Hold the dark gray stove kitchenpot and lift upward", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Hold and raise the kitchenpot with smooth exterior together", + "Hold the cylindrical kitchenpot firmly and lift it", + "Hold and raise the dark gray stove kitchenpot together", + "Carry the medium kitchenpot made of metal securely using arms", + "Both arms lift the dark gray stove kitchenpot upright", + "Lift the medium-sized kitchenpot upward and hold it", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "With arms, raise the gray kitchenpot upward slowly.", + "Pick up the round kitchenpot with handles with both arms", + "Place hands on the cylindrical kitchenpot, then lift.", + "Lift the round kitchenpot with handles up together", + "Lift the cylindrical kitchenpot upwards with care", + "Pick up the round kitchenpot with handles with careful lifting", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Lift the round kitchenpot with handles upward with both arms", + "Hold the smooth gray kitchenpot with both arms", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Bring the cylindrical kitchenpot upwards together", + "Raise the dark gray stove kitchenpot together using arms", + "Secure the smooth gray kitchenpot and lift upward.", + "Raise the smooth gray kitchenpot using both arms", + "Use arms to lift the medium kitchenpot made of metal upward", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Lift the gray kitchenpot up using your arms", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Grip the dark gray stove kitchenpot firmly and lift", + "Grab the metal kitchenpot and lift it up", + "Raise the dark gray stove kitchenpot together with arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Bring the cooking kitchenpot with side grips up together", + "Support the medium kitchenpot made of metal and raise it upward", + "Raise and hold the cooking kitchenpot with side grips together" + ], + "unseen": [ + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode23.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..45e137d7d5e66268b58bc4b008ff842863392b5c --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the round kitchenpot with handles with both arms", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Carry the dark gray stove kitchenpot securely using arms", + "Grab the medium-sized kitchenpot and lift it up", + "Raise the gray kitchenpot upward with both hands", + "Raise the medium kitchenpot made of metal together with arms", + "Secure the kitchenpot with smooth exterior and lift it up", + "Grasp the round kitchenpot with handles and elevate together.", + "Pick up the cooking kitchenpot with side grips with both arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Pick up the metal kitchenpot with careful lifting", + "Lift the round kitchenpot with handles using both arms now.", + "Lift the smooth gray kitchenpot steadily with support", + "Lift the round kitchenpot with handles steadily using arms", + "Lift the metal kitchenpot up together", + "Lift the cylindrical kitchenpot upward and hold it", + "With arms, raise the gray kitchenpot upward slowly.", + "Securely lift the medium kitchenpot made of metal together", + "Raise the metal kitchenpot with strong support", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Raise and hold the gray kitchenpot together", + "Hold and raise the cooking kitchenpot with side grips together", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Grab the metal kitchenpot and lift together", + "Raise the kitchenpot with smooth exterior securely with arms", + "Lift the kitchenpot with smooth exterior up using your arms", + "Use both arms to raise the metal kitchenpot.", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Raise the round kitchenpot with handles steadily using arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Bring the medium-sized kitchenpot upwards together", + "Support the cylindrical kitchenpot and raise it upward", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Grab the medium-sized kitchenpot using both arms", + "Secure the smooth gray kitchenpot and lift upward.", + "Raise the cooking kitchenpot with side grips together using arms", + "Hold and raise the round kitchenpot with handles together", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Bring the medium kitchenpot made of metal up together", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Use both arms to raise the medium-sized kitchenpot", + "Hold the smooth gray kitchenpot firmly and lift it", + "Grip the round kitchenpot with handles firmly and lift", + "Use arms to lift the gray kitchenpot upward", + "Lift the gray kitchenpot upwards with care", + "Hold the smooth gray kitchenpot with both arms", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Carry the cooking kitchenpot with side grips securely using arms", + "Grab the cooking kitchenpot with side grips and lift it up", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Raise the gray kitchenpot together with arms", + "Secure the smooth gray kitchenpot and lift it up", + "Grasp the round kitchenpot with handles and elevate together.", + "Pick up the medium-sized kitchenpot with both arms", + "Lift the gray kitchenpot carefully using both arms.", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Pick up the smooth gray kitchenpot with careful lifting", + "Lift the smooth gray kitchenpot using both arms now.", + "Lift the smooth gray kitchenpot steadily with support", + "Lift the round kitchenpot with handles steadily using arms", + "Lift the medium kitchenpot made of metal up together", + "Lift the medium kitchenpot made of metal upward and hold it", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Securely lift the smooth gray kitchenpot together", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Hold the cylindrical kitchenpot firmly with arms", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Grab the medium-sized kitchenpot and lift it upwards", + "Raise and hold the kitchenpot for boiling and cooking together", + "Hold and raise the metal kitchenpot together", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Grab the gray kitchenpot and lift together", + "Raise the round kitchenpot with handles securely with arms", + "Lift the gray kitchenpot up using your arms", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Raise the gray kitchenpot steadily using arms", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Bring the kitchenpot for boiling and cooking upwards together", + "Support the medium-sized kitchenpot and raise it upward", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Grab the round kitchenpot with handles using both arms", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Raise the medium-sized kitchenpot together using arms", + "Hold and raise the smooth gray kitchenpot together", + "Lift the gray kitchenpot upward with both arms", + "Bring the cylindrical kitchenpot up together", + "Raise the smooth gray kitchenpot using both arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "Hold the cylindrical kitchenpot firmly and lift it", + "Grip the gray kitchenpot firmly and lift", + "Use arms to lift the dark gray stove kitchenpot upward", + "Lift the round kitchenpot with handles upwards with care" + ], + "unseen": [ + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode24.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..c8b608259e2e98ec2013b79055b9aeb23789ed00 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the round kitchenpot with handles and lift together", + "Use arms to lift the metal kitchenpot upward", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Hold the medium-sized kitchenpot with both arms", + "Lift the metal kitchenpot up using your arms", + "Grab the kitchenpot with smooth exterior and lift it up", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Lift the cylindrical kitchenpot steadily using arms", + "Hold and raise the medium-sized kitchenpot together", + "Both arms lift the round kitchenpot with handles upright", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Hold the smooth gray kitchenpot and lift upward", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Pick up the gray kitchenpot with both arms", + "Bring the medium-sized kitchenpot up together", + "Use both arms to raise the kitchenpot with smooth exterior", + "Lift the gray kitchenpot using both arms now.", + "Raise the metal kitchenpot together using arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Secure the medium-sized kitchenpot and lift upward.", + "Support the medium-sized kitchenpot and raise it upward", + "Securely lift the kitchenpot for boiling and cooking together", + "Hold and raise the metal kitchenpot together", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Raise the metal kitchenpot steadily using arms", + "Raise the cylindrical kitchenpot using both arms", + "Bring the metal kitchenpot upwards together", + "Lift the cooking kitchenpot with side grips up together", + "Pick up the gray kitchenpot with careful lifting", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise the medium-sized kitchenpot with strong support", + "Use both arms to raise the round kitchenpot with handles.", + "Raise and hold the kitchenpot for boiling and cooking together", + "Grasp the gray kitchenpot and elevate together.", + "Raise the dark gray stove kitchenpot securely with arms", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Lift the metal kitchenpot steadily with support", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Carry the kitchenpot with smooth exterior securely using arms", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Lift the metal kitchenpot carefully using both arms.", + "Raise the medium-sized kitchenpot together with arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Grab the kitchenpot with smooth exterior using both arms", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Grip the medium-sized kitchenpot firmly and lift", + "Hold the medium-sized kitchenpot firmly and lift it", + "Grab the medium-sized kitchenpot and lift together", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Raise the smooth gray kitchenpot upward with both hands", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Lift the medium kitchenpot made of metal steadily using arms", + "Hold and raise the dark gray stove kitchenpot together", + "Both arms lift the round kitchenpot with handles upright", + "Lift the cylindrical kitchenpot upward with both arms", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Secure the round kitchenpot with handles and lift it up", + "Pick up the cylindrical kitchenpot with both arms", + "Bring the smooth gray kitchenpot up together", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Raise the cylindrical kitchenpot together using arms", + "Lift the cooking kitchenpot with side grips upwards with care", + "Secure the dark gray stove kitchenpot and lift upward.", + "Support the kitchenpot with smooth exterior and raise it upward", + "Securely lift the metal kitchenpot together", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the medium-sized kitchenpot carefully using arms", + "Raise the cylindrical kitchenpot steadily using arms", + "Raise the kitchenpot with smooth exterior using both arms", + "Bring the round kitchenpot with handles upwards together", + "Lift the gray cylindrical metal kitchenpot up together", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Raise the smooth gray kitchenpot evenly with arms", + "Raise the dark gray stove kitchenpot with strong support", + "Use both arms to raise the smooth gray kitchenpot.", + "Raise and hold the gray kitchenpot together", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Raise the cylindrical kitchenpot securely with arms", + "Place hands on the gray kitchenpot, then lift.", + "Hold the medium-sized kitchenpot firmly with arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Grab the metal kitchenpot and lift it upwards", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Take hold of the medium-sized kitchenpot and lift up", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Raise the dark gray stove kitchenpot together with arms", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Grab the round kitchenpot with handles using both arms", + "Lift the cylindrical kitchenpot upward and hold it", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Hold the kitchenpot with smooth exterior firmly and lift it" + ], + "unseen": [ + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode25.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..8fe1d37e4eb94fea4dd29ba02d8db5700a3bb7b7 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Pick up the gray kitchenpot with careful lifting", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Grab the gray kitchenpot and lift it upwards", + "Lift the metal kitchenpot using both arms now.", + "Hold the medium kitchenpot made of metal firmly with arms", + "Bring the medium kitchenpot made of metal up together", + "Secure the metal kitchenpot and lift it up", + "Support the metal kitchenpot and raise it upward", + "Use arms to lift the gray kitchenpot upward", + "Hold the gray kitchenpot and lift upward", + "Lift the smooth gray kitchenpot upward and hold it", + "Carry the medium kitchenpot made of metal securely using arms", + "Lift the round kitchenpot with handles up together", + "Use both arms to raise the metal kitchenpot.", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Raise the cooking kitchenpot with side grips with strong support", + "Take hold of the medium kitchenpot made of metal and lift up", + "Hold the smooth gray kitchenpot firmly and lift it", + "Raise the dark gray stove kitchenpot together using arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Pick up the dark gray stove kitchenpot with both arms", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Lift the smooth gray kitchenpot carefully using arms", + "Both arms lift the gray kitchenpot upright", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Raise and hold the metal kitchenpot together", + "Lift the medium kitchenpot made of metal steadily using arms", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Grab the metal kitchenpot using both arms", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Raise the gray kitchenpot together with arms", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Use both arms to raise the medium kitchenpot made of metal", + "Raise the medium kitchenpot made of metal using both arms", + "Secure the medium kitchenpot made of metal and lift upward.", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Grab the cylindrical kitchenpot and lift together", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Hold and raise the gray kitchenpot together", + "Raise the cylindrical kitchenpot securely with arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Lift the gray kitchenpot up using your arms", + "Grab the round kitchenpot with handles and lift it up", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the medium-sized kitchenpot evenly with arms", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Securely lift the kitchenpot for boiling and cooking together", + "Raise the round kitchenpot with handles steadily using arms", + "Pick up the smooth gray kitchenpot with careful lifting", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Grab the cylindrical kitchenpot and lift it upwards", + "Lift the medium kitchenpot made of metal using both arms now.", + "Hold the cylindrical kitchenpot firmly with arms", + "Bring the medium kitchenpot made of metal up together", + "Secure the gray kitchenpot and lift it up", + "Support the medium-sized kitchenpot and raise it upward", + "Use arms to lift the cylindrical kitchenpot upward", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Lift the cylindrical kitchenpot upward and hold it", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the medium-sized kitchenpot up together", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Grasp the round kitchenpot with handles and elevate together.", + "Raise the medium kitchenpot made of metal with strong support", + "Take hold of the smooth gray kitchenpot and lift up", + "Hold the cylindrical kitchenpot firmly and lift it", + "Raise the kitchenpot with smooth exterior together using arms", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Lift the gray kitchenpot upward with both arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Lift the dark gray stove kitchenpot carefully using arms", + "Both arms lift the kitchenpot with smooth exterior upright", + "Bring the cylindrical kitchenpot upwards together", + "Raise and hold the medium kitchenpot made of metal together", + "Lift the dark gray stove kitchenpot steadily using arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Grab the cooking kitchenpot with side grips using both arms", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Raise the kitchenpot with smooth exterior together with arms", + "Grip the medium-sized kitchenpot firmly and lift", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Raise the kitchenpot with smooth exterior using both arms", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Grab the round kitchenpot with handles and lift together", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the medium-sized kitchenpot securely with arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Lift the medium kitchenpot made of metal up using your arms", + "Grab the cylindrical kitchenpot and lift it up", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Hold and raise the medium kitchenpot made of metal together", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Securely lift the round kitchenpot with handles together" + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode26.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..753697f97f90b07d20a60d092368383594d38fc7 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and raise the medium kitchenpot made of metal together", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Hold the dark gray stove kitchenpot with both arms", + "Pick up the smooth gray kitchenpot with careful lifting", + "Raise the gray kitchenpot with strong support", + "Use both arms to raise the kitchenpot with smooth exterior", + "Lift the medium-sized kitchenpot up using your arms", + "Raise the gray kitchenpot securely with arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Lift the gray kitchenpot upward and hold it", + "Bring the medium-sized kitchenpot upwards together", + "Grab the cylindrical kitchenpot using both arms", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Raise the medium-sized kitchenpot evenly with arms", + "Raise the kitchenpot for boiling and cooking together with arms", + "Lift the gray kitchenpot carefully using arms", + "Lift the kitchenpot with smooth exterior upwards with care", + "Hold the medium kitchenpot made of metal and lift upward", + "Bring the medium kitchenpot made of metal up together", + "Both arms lift the kitchenpot with smooth exterior upright", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Lift the gray kitchenpot upward with both arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Raise the cylindrical kitchenpot together using arms", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Secure the medium kitchenpot made of metal and lift upward.", + "Grab the medium kitchenpot made of metal and lift it up", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the cylindrical kitchenpot using both arms", + "Hold the dark gray stove kitchenpot firmly with arms", + "Lift the dark gray stove kitchenpot using both arms now.", + "Lift the kitchenpot for boiling and cooking up together", + "Use arms to lift the smooth gray kitchenpot upward", + "Secure the kitchenpot with smooth exterior and lift it up", + "Grab the metal kitchenpot and lift together", + "Pick up the smooth gray kitchenpot with both arms", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Use both arms to raise the medium-sized kitchenpot.", + "Grip the smooth gray kitchenpot firmly and lift", + "Lift the kitchenpot with smooth exterior steadily with support", + "Securely lift the round kitchenpot with handles together", + "Hold the smooth gray kitchenpot firmly and lift it", + "Raise and hold the gray kitchenpot together", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Raise the dark gray stove kitchenpot steadily using arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Lift the cylindrical kitchenpot steadily using arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Carry the dark gray stove kitchenpot securely using arms", + "Hold the kitchenpot with smooth exterior with both arms", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Raise the metal kitchenpot with strong support", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Lift the kitchenpot with smooth exterior up using your arms", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Engage arms to grip and lift the metal kitchenpot.", + "Lift the gray kitchenpot upward and hold it", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Grab the kitchenpot for boiling and cooking using both arms", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Raise the dark gray stove kitchenpot evenly with arms", + "Raise the medium-sized kitchenpot together with arms", + "Lift the smooth gray kitchenpot carefully using arms", + "Lift the medium-sized kitchenpot upwards with care", + "Hold the metal kitchenpot and lift upward", + "Bring the gray kitchenpot up together", + "Both arms lift the round kitchenpot with handles upright", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Lift the gray kitchenpot upward with both arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Grasp the round kitchenpot with handles and elevate together.", + "Raise the kitchenpot for boiling and cooking together using arms", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Support the smooth gray kitchenpot and raise it upward", + "Secure the cylindrical kitchenpot and lift upward.", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Hold and raise the cylindrical kitchenpot together", + "Raise the medium-sized kitchenpot using both arms", + "Hold the dark gray stove kitchenpot firmly with arms", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Lift the cooking kitchenpot with side grips up together", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Secure the cylindrical kitchenpot and lift it up", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Pick up the metal kitchenpot with both arms", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Lift the cylindrical kitchenpot steadily with support", + "Securely lift the metal kitchenpot together", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Raise and hold the medium kitchenpot made of metal together", + "With arms, raise the gray kitchenpot upward slowly.", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Raise the dark gray stove kitchenpot upward with both hands", + "Lift the medium-sized kitchenpot steadily using arms" + ], + "unseen": [ + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode27.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..7f15b3711194cd7516dab990c41095bd3572d414 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Support the metal kitchenpot and raise it upward", + "Lift the smooth gray kitchenpot using both arms now.", + "Take hold of the medium-sized kitchenpot and lift up", + "Lift the medium-sized kitchenpot carefully using arms", + "Lift the medium-sized kitchenpot steadily with support", + "Pick up the metal kitchenpot with careful lifting", + "Raise the dark gray stove kitchenpot upward with both hands", + "Lift the smooth gray kitchenpot up using your arms", + "Raise the round kitchenpot with handles steadily using arms", + "Raise and hold the cylindrical kitchenpot together", + "Pick up the gray kitchenpot with both arms", + "Grab the cylindrical kitchenpot and lift it up", + "Bring the smooth gray kitchenpot upwards together", + "Lift the metal kitchenpot upward and hold it", + "Bring the round kitchenpot with handles up together", + "Grab the kitchenpot with smooth exterior using both arms", + "Hold the cylindrical kitchenpot firmly with arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Hold the cooking kitchenpot with side grips and lift upward", + "Hold the metal kitchenpot firmly and lift it", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Hold and raise the dark gray stove kitchenpot together", + "Securely lift the kitchenpot for boiling and cooking together", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Raise the dark gray stove kitchenpot using both arms", + "Hold the medium kitchenpot made of metal with both arms", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Raise the smooth gray kitchenpot together using arms", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Use both arms to raise the metal kitchenpot.", + "Lift the dark gray stove kitchenpot upward with both arms", + "Raise the medium kitchenpot made of metal with strong support", + "Grip the round kitchenpot with handles firmly and lift", + "Lift the round kitchenpot with handles up together", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Grab the cylindrical kitchenpot and lift together", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Grab the metal kitchenpot and lift it upwards", + "Use both arms to raise the round kitchenpot with handles", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Secure the medium-sized kitchenpot and lift upward.", + "Hold and raise the gray kitchenpot together", + "Secure the round kitchenpot with handles and lift it up", + "Grasp the smooth gray kitchenpot and elevate together.", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Raise the medium kitchenpot made of metal evenly with arms", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Support the cylindrical kitchenpot and raise it upward", + "Lift the gray kitchenpot using both arms now.", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Lift the cylindrical kitchenpot carefully using arms", + "Lift the cooking kitchenpot with side grips steadily with support", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Raise the medium kitchenpot made of metal upward with both hands", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Raise the smooth gray kitchenpot steadily using arms", + "Raise and hold the cooking kitchenpot with side grips together", + "Pick up the cylindrical kitchenpot with both arms", + "Grab the kitchenpot with smooth exterior and lift it up", + "Bring the gray kitchenpot upwards together", + "Lift the metal kitchenpot upward and hold it", + "Bring the gray kitchenpot up together", + "Grab the kitchenpot with smooth exterior using both arms", + "Hold the metal kitchenpot firmly with arms", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the smooth gray kitchenpot and lift upward", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Hold the round kitchenpot with handles firmly and move upward.", + "Hold and raise the round kitchenpot with handles together", + "Securely lift the kitchenpot for boiling and cooking together", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Hold the cylindrical kitchenpot with both arms", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Raise the round kitchenpot with handles together using arms", + "Both arms lift the cylindrical kitchenpot upright", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Raise the cylindrical kitchenpot with strong support", + "Grip the gray kitchenpot firmly and lift", + "Lift the smooth gray kitchenpot up together", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Use both arms to raise the medium-sized kitchenpot", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Hold and raise the metal kitchenpot together", + "Secure the metal kitchenpot and lift it up", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Place hands on the cylindrical kitchenpot, then lift.", + "Raise the smooth gray kitchenpot together with arms", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Lift the medium-sized kitchenpot steadily using arms" + ], + "unseen": [ + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode28.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..26f7afe6392f136bf3948da0fa1555abf4b4aada --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use both arms to raise the metal kitchenpot.", + "Securely lift the kitchenpot for boiling and cooking together", + "Hold and raise the dark gray stove kitchenpot together", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Raise and hold the medium kitchenpot made of metal together", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Lift the medium-sized kitchenpot upward with both arms", + "Bring the round kitchenpot with handles upwards together", + "Raise the metal kitchenpot together using arms", + "Place hands on the round kitchenpot with handles, then lift.", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Grab the kitchenpot with smooth exterior and lift together", + "Raise the cylindrical kitchenpot together with arms", + "Grab the metal kitchenpot and lift it upwards", + "Raise the medium kitchenpot made of metal steadily using arms", + "Lift the cylindrical kitchenpot upwards with care", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Raise the round kitchenpot with handles securely with arms", + "Hold the metal kitchenpot firmly with arms", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Hold the gray kitchenpot and lift upward", + "Secure the medium kitchenpot made of metal and lift upward.", + "Hold the cylindrical kitchenpot with both arms", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Grab the kitchenpot with smooth exterior and lift it up", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Lift the smooth gray kitchenpot steadily with support", + "Grab the metal kitchenpot using both arms", + "Pick up the cylindrical kitchenpot with careful lifting", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Hold the round kitchenpot with handles firmly and lift it", + "Bring the metal kitchenpot up together", + "Use both arms to raise the metal kitchenpot", + "Raise the cylindrical kitchenpot evenly with arms", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Lift the medium-sized kitchenpot up using your arms", + "Pick up the cooking kitchenpot with side grips with both arms", + "Raise the dark gray stove kitchenpot upward with both hands", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the round kitchenpot with handles up together", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Raise the cooking kitchenpot with side grips using both arms", + "Lift the metal kitchenpot using both arms now.", + "Support the metal kitchenpot and raise it upward", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Use both arms to raise the medium kitchenpot made of metal.", + "Securely lift the dark gray stove kitchenpot together", + "Hold and raise the kitchenpot for boiling and cooking together", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Raise and hold the medium-sized kitchenpot together", + "With arms, raise the gray kitchenpot upward slowly.", + "Lift the cylindrical kitchenpot upward with both arms", + "Bring the cylindrical kitchenpot upwards together", + "Raise the metal kitchenpot together using arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Grab the kitchenpot for boiling and cooking and lift together", + "Raise the round kitchenpot with handles together with arms", + "Grab the round kitchenpot with handles and lift it upwards", + "Raise the medium-sized kitchenpot steadily using arms", + "Lift the smooth gray kitchenpot upwards with care", + "Raise the kitchenpot for boiling and cooking with strong support", + "Raise the kitchenpot with smooth exterior securely with arms", + "Hold the dark gray stove kitchenpot firmly with arms", + "Hold the gray kitchenpot firmly, then lift.", + "Hold the metal kitchenpot and lift upward", + "Secure the cylindrical kitchenpot and lift upward.", + "Hold the smooth gray kitchenpot with both arms", + "Lift the round kitchenpot with handles carefully using both arms.", + "Grab the metal kitchenpot and lift it up", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Lift the kitchenpot with smooth exterior steadily with support", + "Grab the cylindrical kitchenpot using both arms", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Secure the round kitchenpot with handles and lift it up", + "Hold the medium-sized kitchenpot firmly and lift it", + "Bring the medium kitchenpot made of metal up together", + "Use both arms to raise the kitchenpot with smooth exterior", + "Raise the dark gray stove kitchenpot evenly with arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Lift the metal kitchenpot upward and hold it", + "Lift the cylindrical kitchenpot up using your arms", + "Pick up the round kitchenpot with handles with both arms", + "Raise the gray kitchenpot upward with both hands", + "Carry the medium kitchenpot made of metal securely using arms", + "Lift the medium-sized kitchenpot up together", + "Lift the gray kitchenpot carefully using arms", + "Both arms lift the kitchenpot with smooth exterior upright", + "Raise the round kitchenpot with handles using both arms", + "Lift the round kitchenpot with handles using both arms now.", + "Support the gray kitchenpot and raise it upward", + "Use arms to lift the smooth gray kitchenpot upward", + "Hold and raise the dark gray stove kitchenpot together", + "Lift the gray kitchenpot steadily using arms", + "Grip the medium kitchenpot made of metal firmly and lift" + ], + "unseen": [ + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode29.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..d664b9f17d051fb0852070ebecfe9ef77b9708fe --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Both arms lift the medium kitchenpot made of metal upright", + "Take hold of the medium kitchenpot made of metal and lift up", + "Lift the metal kitchenpot up using your arms", + "Support the medium-sized kitchenpot and raise it upward", + "Lift the medium kitchenpot made of metal upward and hold it", + "Grip the dark gray stove kitchenpot firmly and lift", + "Grasp the medium-sized kitchenpot and elevate together.", + "Lift the medium-sized kitchenpot carefully using arms", + "Use arms to lift the metal kitchenpot upward", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Raise the dark gray stove kitchenpot upward with both hands", + "Raise the smooth gray kitchenpot using both arms", + "Hold the round kitchenpot with handles with both arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Grab the medium-sized kitchenpot using both arms", + "Hold the medium kitchenpot made of metal firmly with arms", + "Lift the smooth gray kitchenpot up together", + "Use both arms to raise the medium kitchenpot made of metal", + "Pick up the smooth gray kitchenpot with both arms", + "Grab the round kitchenpot with handles and lift together", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Bring the cooking kitchenpot with side grips up together", + "Grab the medium-sized kitchenpot and lift it upwards", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Secure the medium kitchenpot made of metal and lift it up", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Secure the medium-sized kitchenpot and lift upward.", + "Bring the medium-sized kitchenpot upwards together", + "Carry the medium-sized kitchenpot securely using arms", + "Pick up the medium-sized kitchenpot with careful lifting", + "Hold the gray kitchenpot and lift upward", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Raise the dark gray stove kitchenpot steadily using arms", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Securely lift the kitchenpot with smooth exterior together", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise and hold the cooking kitchenpot with side grips together", + "Lift the round kitchenpot with handles steadily using arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Lift the gray kitchenpot upwards with care", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Hold and raise the gray kitchenpot together", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Grab the round kitchenpot with handles and lift it up", + "Use both arms to raise the gray kitchenpot.", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Both arms lift the gray kitchenpot upright", + "Take hold of the cylindrical kitchenpot and lift up", + "Lift the cylindrical kitchenpot up using your arms", + "Support the gray kitchenpot and raise it upward", + "Lift the round kitchenpot with handles upward and hold it", + "Grip the smooth gray kitchenpot firmly and lift", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Lift the metal kitchenpot carefully using arms", + "Use arms to lift the gray kitchenpot upward", + "Engage arms to grip and lift the gray kitchenpot.", + "Raise the round kitchenpot with handles upward with both hands", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Grab the smooth gray kitchenpot using both arms", + "Hold the gray kitchenpot firmly with arms", + "Lift the cooking kitchenpot with side grips up together", + "Use both arms to raise the kitchenpot with smooth exterior", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Grab the metal kitchenpot and lift together", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Bring the round kitchenpot with handles up together", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Secure the kitchenpot with smooth exterior and lift it up", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Lift the metal kitchenpot upward with both arms", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Secure the gray kitchenpot and lift upward.", + "Bring the medium-sized kitchenpot upwards together", + "Carry the medium-sized kitchenpot securely using arms", + "Pick up the gray kitchenpot with careful lifting", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Hold the round kitchenpot with handles firmly and move upward.", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Raise the metal kitchenpot together using arms", + "Securely lift the medium-sized kitchenpot together", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Raise and hold the cylindrical kitchenpot together", + "Lift the smooth gray kitchenpot steadily using arms", + "Lift the gray kitchenpot steadily with support", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Lift the medium kitchenpot made of metal upwards with care", + "Raise the gray kitchenpot securely with arms", + "Hold and raise the dark gray stove kitchenpot together", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Grab the dark gray stove kitchenpot and lift it up", + "Use both arms to raise the round kitchenpot with handles.", + "Raise the cylindrical kitchenpot with strong support" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode3.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..bec078aaa9f63a413f7e500e5078b9f62595d744 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark gray stove kitchenpot steadily using arms", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Grab the medium-sized kitchenpot and lift it upwards", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Lift the smooth gray kitchenpot using both arms now.", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Lift the gray kitchenpot carefully using both arms.", + "Hold and raise the medium-sized kitchenpot together", + "Raise the kitchenpot for boiling and cooking with strong support", + "Lift the metal kitchenpot up using your arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Lift the smooth gray kitchenpot steadily with support", + "Grab the cylindrical kitchenpot using both arms", + "Hold the kitchenpot with smooth exterior and lift upward", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Bring the kitchenpot with smooth exterior upwards together", + "Raise the smooth gray kitchenpot together with arms", + "Carry the smooth gray kitchenpot securely using arms", + "Pick up the medium-sized kitchenpot with both arms", + "Raise and hold the kitchenpot for boiling and cooking together", + "Pick up the medium-sized kitchenpot with careful lifting", + "Raise the cylindrical kitchenpot steadily using arms", + "Grip the metal kitchenpot firmly and lift", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Securely lift the smooth gray kitchenpot together", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Place hands on the medium-sized kitchenpot, then lift.", + "Use both arms to raise the cylindrical kitchenpot.", + "Secure the gray kitchenpot and lift upward.", + "Take hold of the round kitchenpot with handles and lift up", + "Lift the medium-sized kitchenpot up together", + "Lift the smooth gray kitchenpot carefully using arms", + "Hold the gray kitchenpot with both arms", + "Lift the dark gray stove kitchenpot upward with both arms", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Use both arms to raise the medium-sized kitchenpot", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Both arms lift the medium kitchenpot made of metal upright", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Secure the dark gray stove kitchenpot and lift it up", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Raise the dark gray stove kitchenpot using both arms", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Hold and raise the dark gray stove kitchenpot together", + "Grab the smooth gray kitchenpot and lift together", + "Support the metal kitchenpot and raise it upward", + "Raise the cooking kitchenpot with side grips together using arms", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Lift the medium kitchenpot made of metal steadily using arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Grab the metal kitchenpot and lift it upwards", + "Grab the round kitchenpot with handles and lift it up", + "Lift the gray kitchenpot using both arms now.", + "Hold the smooth gray kitchenpot firmly with arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the dark gray stove kitchenpot with strong support", + "Lift the cooking kitchenpot with side grips up using your arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Lift the cylindrical kitchenpot steadily with support", + "Grab the medium kitchenpot made of metal using both arms", + "Hold the metal kitchenpot and lift upward", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Bring the medium-sized kitchenpot up together", + "Bring the dark gray stove kitchenpot upwards together", + "Raise the smooth gray kitchenpot together with arms", + "Carry the medium kitchenpot made of metal securely using arms", + "Pick up the smooth gray kitchenpot with both arms", + "Raise and hold the medium-sized kitchenpot together", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Grip the dark gray stove kitchenpot firmly and lift", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Securely lift the metal kitchenpot together", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Use both arms to raise the gray kitchenpot.", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Lift the round kitchenpot with handles up together", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Hold the cooking kitchenpot with side grips with both arms", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Engage arms to grip and lift the metal kitchenpot.", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Use arms to lift the dark gray stove kitchenpot upward", + "Secure the medium kitchenpot made of metal and lift it up", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Raise the medium-sized kitchenpot using both arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Hold and raise the smooth gray kitchenpot together", + "Grab the kitchenpot with smooth exterior and lift together", + "Support the cooking kitchenpot with side grips and raise it upward", + "Raise the smooth gray kitchenpot together using arms", + "Raise the gray kitchenpot upward with both hands" + ], + "unseen": [ + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode30.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..482d91017e1c1e84d1332816da9d545083b63bf0 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Bring the dark gray stove kitchenpot upwards together", + "Lift the gray kitchenpot up using your arms", + "Grasp the round kitchenpot with handles and elevate together.", + "Hold and raise the medium-sized kitchenpot together", + "Hold the gray kitchenpot firmly and lift it", + "Lift the cylindrical kitchenpot carefully using arms", + "Use arms to lift the cylindrical kitchenpot upward", + "Hold the kitchenpot with smooth exterior with both arms", + "Lift the medium-sized kitchenpot upward with both arms", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Grab the gray kitchenpot using both arms", + "Grab the medium-sized kitchenpot and lift it upwards", + "Take hold of the round kitchenpot with handles and lift up", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Raise the cooking kitchenpot with side grips together using arms", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Hold and raise the medium-sized kitchenpot together", + "Raise the medium-sized kitchenpot using both arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Raise the dark gray stove kitchenpot steadily using arms", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Hold the medium-sized kitchenpot and lift upward", + "Raise the kitchenpot with smooth exterior with strong support", + "Place hands on the medium-sized kitchenpot, then lift.", + "Use both arms to raise the cooking kitchenpot with side grips", + "Lift the round kitchenpot with handles using both arms now.", + "Use both arms to raise the cylindrical kitchenpot.", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the cooking kitchenpot with side grips upwards with care", + "Grab the kitchenpot with smooth exterior and lift together", + "Raise the cylindrical kitchenpot upward with both hands", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Lift the medium kitchenpot made of metal up together", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Both arms lift the kitchenpot with smooth exterior upright", + "Grip the medium kitchenpot made of metal firmly and lift", + "Raise the medium kitchenpot made of metal securely with arms", + "Lift the round kitchenpot with handles steadily with support", + "Pick up the medium kitchenpot made of metal with both arms", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Raise the kitchenpot for boiling and cooking together with arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Raise and hold the cooking kitchenpot with side grips together", + "Carry the kitchenpot with smooth exterior securely using arms", + "Securely lift the cooking kitchenpot with side grips together", + "Bring the kitchenpot with smooth exterior up together", + "Bring the medium-sized kitchenpot upwards together", + "Lift the cooking kitchenpot with side grips up using your arms", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Hold and raise the cooking kitchenpot with side grips together", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the cooking kitchenpot with side grips with both arms", + "Lift the cooking kitchenpot with side grips upward with both arms", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Hold the round kitchenpot with handles firmly and move upward.", + "Grab the round kitchenpot with handles using both arms", + "Grab the smooth gray kitchenpot and lift it upwards", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Lift the cylindrical kitchenpot steadily using arms", + "Raise the gray kitchenpot together using arms", + "Hold the medium-sized kitchenpot firmly with arms", + "Raise the medium kitchenpot made of metal evenly with arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the round kitchenpot with handles using both arms", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Secure the medium kitchenpot made of metal and lift upward.", + "Raise the round kitchenpot with handles steadily using arms", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Hold the kitchenpot with smooth exterior and lift upward", + "Raise the medium-sized kitchenpot with strong support", + "Place hands on the metal kitchenpot, then lift.", + "Use both arms to raise the metal kitchenpot", + "Lift the medium kitchenpot made of metal using both arms now.", + "Use both arms to raise the round kitchenpot with handles.", + "Secure the medium-sized kitchenpot and lift it up", + "Lift the kitchenpot with smooth exterior upwards with care", + "Grab the kitchenpot for boiling and cooking and lift together", + "Raise the medium-sized kitchenpot upward with both hands", + "Support the metal kitchenpot and raise it upward", + "Lift the medium-sized kitchenpot up together", + "Grab the cylindrical kitchenpot and lift it up", + "Both arms lift the gray kitchenpot upright", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Raise the kitchenpot with smooth exterior securely with arms", + "Lift the metal kitchenpot steadily with support", + "Pick up the round kitchenpot with handles with both arms", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Raise the smooth gray kitchenpot together with arms", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Pick up the smooth gray kitchenpot with careful lifting", + "Raise and hold the metal kitchenpot together", + "Carry the metal kitchenpot securely using arms", + "Securely lift the round kitchenpot with handles together", + "Bring the medium kitchenpot made of metal up together" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode31.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..ecca13e1d9d914b28494e74b17930c6e7daab68c --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the medium-sized kitchenpot evenly with arms", + "Lift the smooth gray kitchenpot steadily with support", + "Raise the dark gray stove kitchenpot using both arms", + "Use arms to lift the medium kitchenpot made of metal upward", + "Raise the smooth gray kitchenpot together with arms", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Raise and hold the metal kitchenpot together", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Hold the kitchenpot with smooth exterior and lift upward", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Take hold of the medium-sized kitchenpot and lift up", + "Hold and raise the cooking kitchenpot with side grips together", + "Hold the gray kitchenpot firmly and lift it", + "Raise the cylindrical kitchenpot securely with arms", + "Hold the smooth gray kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Raise the dark gray stove kitchenpot steadily using arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Use both arms to raise the kitchenpot with smooth exterior", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Grab the cylindrical kitchenpot and lift it up", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Securely lift the gray cylindrical metal kitchenpot together", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Pick up the medium-sized kitchenpot with careful lifting", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Raise the dark gray stove kitchenpot with strong support", + "Lift the smooth gray kitchenpot up using your arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Grab the gray kitchenpot using both arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Both arms lift the cylindrical kitchenpot upright", + "Bring the gray cylindrical metal kitchenpot upwards together", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Lift the dark gray stove kitchenpot up together", + "Lift the round kitchenpot with handles steadily using arms", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Grip the cylindrical kitchenpot firmly and lift", + "Bring the kitchenpot with smooth exterior up together", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Raise the metal kitchenpot together using arms", + "Raise the metal kitchenpot upward with both hands", + "Lift the metal kitchenpot upwards with care", + "Use both arms to raise the medium-sized kitchenpot.", + "Raise the metal kitchenpot evenly with arms", + "Lift the round kitchenpot with handles steadily with support", + "Raise the cylindrical kitchenpot using both arms", + "Use arms to lift the smooth gray kitchenpot upward", + "Raise the dark gray stove kitchenpot together with arms", + "Grasp the medium-sized kitchenpot and elevate together.", + "Raise and hold the medium kitchenpot made of metal together", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Hold the cylindrical kitchenpot and lift upward", + "Lift the metal kitchenpot upward and hold it", + "Take hold of the dark gray stove kitchenpot and lift up", + "Hold and raise the cylindrical kitchenpot together", + "Hold the smooth gray kitchenpot firmly and lift it", + "Raise the dark gray stove kitchenpot securely with arms", + "Hold the medium-sized kitchenpot with both arms", + "Lift the cylindrical kitchenpot using both arms now.", + "Raise the smooth gray kitchenpot steadily using arms", + "Hold and raise the round kitchenpot with handles together", + "Use both arms to raise the smooth gray kitchenpot", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Securely lift the medium-sized kitchenpot together", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Carry the dark gray stove kitchenpot securely using arms", + "Hold the gray kitchenpot firmly and move upward.", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Raise the metal kitchenpot with strong support", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Support the cylindrical kitchenpot and raise it upward", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Secure the dark gray stove kitchenpot and lift it up", + "Both arms lift the kitchenpot with smooth exterior upright", + "Bring the dark gray stove kitchenpot upwards together", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Lift the gray cylindrical metal kitchenpot up together", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Grip the dark gray stove kitchenpot firmly and lift", + "Bring the kitchenpot for boiling and cooking up together", + "Grab the kitchenpot for boiling and cooking and lift together", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Raise the cooking kitchenpot with side grips together using arms", + "Raise the dark gray stove kitchenpot upward with both hands", + "Lift the kitchenpot with smooth exterior upwards with care", + "Use both arms to raise the kitchenpot for boiling and cooking." + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode32.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..b9714470fa032e24ab4aefa02b376f08d4eaf09a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise and hold the gray cylindrical metal kitchenpot together", + "Hold and raise the gray kitchenpot together", + "Lift the smooth gray kitchenpot upward with both arms", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Grip the gray kitchenpot firmly and lift", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Securely lift the gray kitchenpot together", + "Raise the medium kitchenpot made of metal securely with arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Lift the gray kitchenpot up using your arms", + "Secure the smooth gray kitchenpot and lift upward.", + "Grab the gray kitchenpot and lift it upwards", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Place hands on the metal kitchenpot, then lift.", + "Take hold of the gray kitchenpot and lift up", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Both arms lift the smooth gray kitchenpot upright", + "Lift the gray kitchenpot steadily using arms", + "Bring the cooking kitchenpot with side grips up together", + "Hold and raise the kitchenpot with smooth exterior together", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Lift the medium kitchenpot made of metal up together", + "Carry the round kitchenpot with handles securely using arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Raise the smooth gray kitchenpot using both arms", + "Raise the cylindrical kitchenpot together using arms", + "Grasp the medium-sized kitchenpot and elevate together.", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Pick up the metal kitchenpot with careful lifting", + "Raise the metal kitchenpot steadily using arms", + "Raise the smooth gray kitchenpot together with arms", + "Grab the cooking kitchenpot with side grips using both arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Pick up the smooth gray kitchenpot with both arms", + "Grab the cylindrical kitchenpot and lift it up", + "Secure the round kitchenpot with handles and lift it up", + "Use arms to lift the round kitchenpot with handles upward", + "Use both arms to raise the smooth gray kitchenpot.", + "Use both arms to raise the round kitchenpot with handles", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Raise the gray kitchenpot upward with both hands", + "Hold the medium-sized kitchenpot firmly and lift it", + "Lift the metal kitchenpot using both arms now.", + "Hold the kitchenpot with smooth exterior with both arms", + "Lift the round kitchenpot with handles upward and hold it", + "Raise and hold the kitchenpot with smooth exterior together", + "Hold and raise the cooking kitchenpot with side grips together", + "Lift the round kitchenpot with handles upward with both arms", + "Bring the medium-sized kitchenpot upwards together", + "Grip the dark gray stove kitchenpot firmly and lift", + "Hold the gray kitchenpot and lift upward", + "Securely lift the gray cylindrical metal kitchenpot together", + "Raise the medium-sized kitchenpot securely with arms", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Place hands on the cylindrical kitchenpot, then lift.", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Lift the gray kitchenpot carefully using both arms.", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Both arms lift the gray kitchenpot upright", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Bring the cooking kitchenpot with side grips up together", + "Hold and raise the cooking kitchenpot with side grips together", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Lift the medium kitchenpot made of metal up together", + "Carry the medium-sized kitchenpot securely using arms", + "Grab the medium kitchenpot made of metal and lift together", + "Raise the smooth gray kitchenpot using both arms", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Grasp the round kitchenpot with handles and elevate together.", + "Support the kitchenpot with smooth exterior and raise it upward", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Pick up the smooth gray kitchenpot with careful lifting", + "Raise the dark gray stove kitchenpot steadily using arms", + "Raise the medium kitchenpot made of metal together with arms", + "Grab the dark gray stove kitchenpot using both arms", + "Lift the gray kitchenpot upwards with care", + "Pick up the cooking kitchenpot with side grips with both arms", + "Grab the medium-sized kitchenpot and lift it up", + "Secure the cylindrical kitchenpot and lift it up", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Use both arms to raise the smooth gray kitchenpot.", + "Use both arms to raise the cooking kitchenpot with side grips", + "Hold the gray kitchenpot firmly, then lift.", + "Lift the gray kitchenpot steadily with support", + "Raise the kitchenpot with smooth exterior with strong support", + "Raise the cylindrical kitchenpot upward with both hands", + "Hold the smooth gray kitchenpot firmly and lift it", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Hold the cylindrical kitchenpot with both arms", + "Lift the medium kitchenpot made of metal upward and hold it" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode33.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b28ccfec4f26ec416d597afe50e7a381ee01e8 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the kitchenpot with smooth exterior steadily using arms", + "Take hold of the medium kitchenpot made of metal and lift up", + "Both arms lift the cooking kitchenpot with side grips upright", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Grab the smooth gray kitchenpot and lift together", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Lift the round kitchenpot with handles up using your arms", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Hold and raise the medium-sized kitchenpot together", + "Raise the kitchenpot with smooth exterior using both arms", + "Bring the medium-sized kitchenpot upwards together", + "Bring the metal kitchenpot up together", + "Lift the metal kitchenpot upward and hold it", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Grip the dark gray stove kitchenpot firmly and lift", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Lift the cooking kitchenpot with side grips upwards with care", + "Hold the dark gray stove kitchenpot with both arms", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Pick up the smooth gray kitchenpot with careful lifting", + "Engage arms to grip and lift the gray kitchenpot.", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Use arms to lift the cylindrical kitchenpot upward", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Raise the medium kitchenpot made of metal together with arms", + "Grab the gray kitchenpot and lift it upwards", + "Grab the cooking kitchenpot with side grips using both arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Securely lift the kitchenpot for boiling and cooking together", + "Carry the dark gray stove kitchenpot securely using arms", + "Hold the cylindrical kitchenpot firmly and lift it", + "Raise the cooking kitchenpot with side grips together using arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Lift the metal kitchenpot up together", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Use both arms to raise the medium-sized kitchenpot.", + "Raise and hold the medium-sized kitchenpot together", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Use both arms to raise the medium-sized kitchenpot", + "Lift the metal kitchenpot steadily using arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the metal kitchenpot upward with both arms", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Both arms lift the cooking kitchenpot with side grips upright", + "Secure the medium-sized kitchenpot and lift upward.", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Grab the cooking kitchenpot with side grips and lift together", + "Hold the metal kitchenpot firmly with arms", + "Lift the medium-sized kitchenpot up using your arms", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Hold and raise the cylindrical kitchenpot together", + "Raise the medium-sized kitchenpot using both arms", + "Bring the metal kitchenpot upwards together", + "Bring the cylindrical kitchenpot up together", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Raise the cylindrical kitchenpot securely with arms", + "Hold the dark gray stove kitchenpot and lift upward", + "Grip the metal kitchenpot firmly and lift", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Raise the medium kitchenpot made of metal evenly with arms", + "Lift the medium-sized kitchenpot upwards with care", + "Hold the gray kitchenpot with both arms", + "Grab the medium kitchenpot made of metal and lift it up", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Use arms to lift the gray kitchenpot upward", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Raise the cooking kitchenpot with side grips together with arms", + "Grab the metal kitchenpot and lift it upwards", + "Grab the medium kitchenpot made of metal using both arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Securely lift the medium-sized kitchenpot together", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Hold the cylindrical kitchenpot firmly and lift it", + "Raise the kitchenpot with smooth exterior together using arms", + "Raise the medium kitchenpot made of metal with strong support", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Lift the gray kitchenpot up together", + "Hold the metal kitchenpot firmly, then lift.", + "Use both arms to raise the medium kitchenpot made of metal.", + "Raise and hold the kitchenpot for boiling and cooking together", + "Lift the gray kitchenpot using both arms now.", + "Use both arms to raise the gray kitchenpot", + "Lift the smooth gray kitchenpot steadily using arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the gray cylindrical metal kitchenpot upward with both arms" + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode34.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..305fabc15745f4a13e92b8e0f33632f7f0114ed5 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the round kitchenpot with handles with both arms", + "Raise and hold the medium-sized kitchenpot together", + "Raise the medium-sized kitchenpot upward with both hands", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Lift the round kitchenpot with handles upward with both arms", + "Raise the smooth gray kitchenpot together using arms", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Hold the cylindrical kitchenpot with both arms", + "Grab the metal kitchenpot using both arms", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Grab the cooking kitchenpot with side grips and lift together", + "Support the cooking kitchenpot with side grips and raise it upward", + "Secure the metal kitchenpot and lift upward.", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Bring the gray kitchenpot up together", + "Secure the round kitchenpot with handles and lift it up", + "Raise the kitchenpot with smooth exterior with strong support", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Raise the metal kitchenpot together with arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Pick up the medium-sized kitchenpot with careful lifting", + "Bring the smooth gray kitchenpot upwards together", + "Grip the metal kitchenpot firmly and lift", + "Lift the cooking kitchenpot with side grips up using your arms", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the dark gray stove kitchenpot using both arms now.", + "Hold the round kitchenpot with handles firmly with arms", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Use arms to lift the metal kitchenpot upward", + "Lift the metal kitchenpot steadily using arms", + "Hold the metal kitchenpot firmly and lift it", + "Both arms lift the smooth gray kitchenpot upright", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Raise the medium-sized kitchenpot using both arms", + "Securely lift the round kitchenpot with handles together", + "Lift the cylindrical kitchenpot up together", + "Hold and raise the cooking kitchenpot with side grips together", + "Grab the smooth gray kitchenpot and lift it up", + "Lift the dark gray stove kitchenpot carefully using arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Raise the cylindrical kitchenpot steadily using arms", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Raise the medium kitchenpot made of metal securely with arms", + "Use both arms to raise the cylindrical kitchenpot", + "Hold and raise the cylindrical kitchenpot together", + "Raise the cylindrical kitchenpot evenly with arms", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Pick up the gray kitchenpot with both arms", + "Raise and hold the cylindrical kitchenpot together", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Take hold of the round kitchenpot with handles and lift up", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Lift the round kitchenpot with handles upward with both arms", + "Raise the kitchenpot for boiling and cooking together using arms", + "Grab the smooth gray kitchenpot and lift it upwards", + "Hold the kitchenpot for boiling and cooking with both arms", + "Grab the kitchenpot with smooth exterior using both arms", + "Lift the medium-sized kitchenpot upwards with care", + "Grab the metal kitchenpot and lift together", + "Support the kitchenpot with smooth exterior and raise it upward", + "Secure the metal kitchenpot and lift upward.", + "Grasp the medium-sized kitchenpot and elevate together.", + "Bring the kitchenpot with smooth exterior up together", + "Secure the metal kitchenpot and lift it up", + "Raise the gray kitchenpot with strong support", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Raise the gray kitchenpot together with arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Bring the kitchenpot with smooth exterior upwards together", + "Grip the medium-sized kitchenpot firmly and lift", + "Lift the round kitchenpot with handles up using your arms", + "Carry the cylindrical kitchenpot securely using arms", + "Lift the cylindrical kitchenpot using both arms now.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Place hands on the dark gray stove kitchenpot, then lift.", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Lift the dark gray stove kitchenpot steadily using arms", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Both arms lift the round kitchenpot with handles upright", + "Lift the cylindrical kitchenpot steadily with support", + "Raise the metal kitchenpot using both arms", + "Securely lift the dark gray stove kitchenpot together", + "Lift the round kitchenpot with handles up together", + "Hold and raise the kitchenpot with smooth exterior together", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Lift the smooth gray kitchenpot carefully using arms", + "Use both arms to raise the smooth gray kitchenpot.", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Raise the gray kitchenpot securely with arms", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Hold and raise the metal kitchenpot together", + "Raise the round kitchenpot with handles evenly with arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms." + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode35.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..b59a3fe9dd6fa5b976dae0da2f00c895b54bfd76 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark gray stove kitchenpot steadily with support", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Secure the smooth gray kitchenpot and lift upward.", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Grasp the smooth gray kitchenpot and elevate together.", + "Lift the metal kitchenpot upward with both arms", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Raise the metal kitchenpot using both arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Take hold of the cylindrical kitchenpot and lift up", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Secure the smooth gray kitchenpot and lift it up", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Grab the smooth gray kitchenpot and lift together", + "Hold the medium kitchenpot made of metal firmly with arms", + "Raise the medium-sized kitchenpot together with arms", + "Hold the round kitchenpot with handles firmly and move upward.", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Securely lift the dark gray stove kitchenpot together", + "Use arms to lift the smooth gray kitchenpot upward", + "Hold the medium-sized kitchenpot and lift upward", + "Raise the medium kitchenpot made of metal evenly with arms", + "Bring the kitchenpot with smooth exterior upwards together", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Support the kitchenpot with smooth exterior and raise it upward", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Hold and raise the dark gray stove kitchenpot together", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Hold and raise the smooth gray kitchenpot together", + "Carry the medium kitchenpot made of metal securely using arms", + "Bring the gray kitchenpot up together", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Raise the gray kitchenpot upward with both hands", + "Lift the kitchenpot with smooth exterior upwards with care", + "Raise the gray kitchenpot steadily using arms", + "Grip the cylindrical kitchenpot firmly and lift", + "Raise the cylindrical kitchenpot securely with arms", + "Raise the kitchenpot with smooth exterior together using arms", + "Raise the dark gray stove kitchenpot with strong support", + "Lift the cooking kitchenpot with side grips up using your arms", + "Lift the cooking kitchenpot with side grips up together", + "Grab the round kitchenpot with handles and lift it upwards", + "Grab the cylindrical kitchenpot using both arms", + "Raise and hold the round kitchenpot with handles together", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Lift the metal kitchenpot upward and hold it", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Lift the smooth gray kitchenpot upward with both arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Raise the medium-sized kitchenpot using both arms", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Take hold of the dark gray stove kitchenpot and lift up", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Hold the medium-sized kitchenpot with both arms", + "Use both arms to raise the dark gray stove kitchenpot", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Use both arms to raise the medium kitchenpot made of metal.", + "Lift the gray kitchenpot steadily using arms", + "Both arms lift the medium-sized kitchenpot upright", + "Grab the medium-sized kitchenpot and lift together", + "Hold the gray kitchenpot firmly with arms", + "Raise the smooth gray kitchenpot together with arms", + "Hold the round kitchenpot with handles firmly and move upward.", + "Pick up the medium-sized kitchenpot with careful lifting", + "Securely lift the medium kitchenpot made of metal together", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the medium-sized kitchenpot and lift upward", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Bring the dark gray stove kitchenpot upwards together", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Lift the round kitchenpot with handles using both arms now.", + "Hold and raise the metal kitchenpot together", + "Pick up the metal kitchenpot with both arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Carry the metal kitchenpot securely using arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Grab the cooking kitchenpot with side grips and lift it up", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Lift the smooth gray kitchenpot upwards with care", + "Raise the medium-sized kitchenpot steadily using arms", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Raise the cooking kitchenpot with side grips securely with arms", + "Raise the cylindrical kitchenpot together using arms", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Lift the cylindrical kitchenpot up together", + "Grab the smooth gray kitchenpot and lift it upwards", + "Grab the round kitchenpot with handles using both arms", + "Raise and hold the medium kitchenpot made of metal together" + ], + "unseen": [ + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode36.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..d158984d06fab256d17c4d5b62822f34ec22e1c8 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the kitchenpot with smooth exterior using both arms", + "Grab the medium-sized kitchenpot and lift it up", + "Grip the dark gray stove kitchenpot firmly and lift", + "Raise the cylindrical kitchenpot together with arms", + "Grab the cooking kitchenpot with side grips using both arms", + "Lift the round kitchenpot with handles upwards with care", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Raise the medium kitchenpot made of metal evenly with arms", + "Bring the kitchenpot for boiling and cooking upwards together", + "Bring the dark gray stove kitchenpot up together", + "Pick up the smooth gray kitchenpot with both arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Pick up the metal kitchenpot with careful lifting", + "Securely lift the gray cylindrical metal kitchenpot together", + "Raise and hold the dark gray stove kitchenpot together", + "Hold the metal kitchenpot firmly with arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Raise the medium-sized kitchenpot steadily using arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "Lift the round kitchenpot with handles using both arms now.", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Lift the medium kitchenpot made of metal up together", + "Hold and raise the gray kitchenpot together", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Raise the medium-sized kitchenpot together using arms", + "Raise the gray kitchenpot with strong support", + "Lift the medium-sized kitchenpot upward and hold it", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Grab the medium-sized kitchenpot and lift together", + "Lift the cylindrical kitchenpot upward with both arms", + "Hold the metal kitchenpot with both arms", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Raise the cylindrical kitchenpot upward with both hands", + "Lift the round kitchenpot with handles up using your arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Place hands on the smooth gray kitchenpot, then lift.", + "Raise the kitchenpot with smooth exterior securely with arms", + "Secure the gray kitchenpot and lift it up", + "Secure the cylindrical kitchenpot and lift upward.", + "Support the metal kitchenpot and raise it upward", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Raise the metal kitchenpot using both arms", + "Grab the cylindrical kitchenpot and lift it up", + "Grip the smooth gray kitchenpot firmly and lift", + "Raise the kitchenpot with smooth exterior together with arms", + "Grab the medium-sized kitchenpot using both arms", + "Lift the metal kitchenpot upwards with care", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Lift the round kitchenpot with handles steadily using arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Bring the medium-sized kitchenpot upwards together", + "Bring the medium-sized kitchenpot up together", + "Pick up the cooking kitchenpot with side grips with both arms", + "Use arms to lift the smooth gray kitchenpot upward", + "Pick up the medium-sized kitchenpot with careful lifting", + "Securely lift the gray cylindrical metal kitchenpot together", + "Raise and hold the dark gray stove kitchenpot together", + "Hold the cylindrical kitchenpot firmly with arms", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Raise the cylindrical kitchenpot steadily using arms", + "Use both arms to raise the round kitchenpot with handles", + "Lift the dark gray stove kitchenpot using both arms now.", + "Grab the smooth gray kitchenpot and lift it upwards", + "Use both arms to raise the metal kitchenpot.", + "Grasp the gray kitchenpot and elevate together.", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Lift the medium kitchenpot made of metal up together", + "Hold and raise the metal kitchenpot together", + "Both arms lift the metal kitchenpot upright", + "Raise the cooking kitchenpot with side grips together using arms", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Lift the round kitchenpot with handles carefully using arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Carry the cylindrical kitchenpot securely using arms", + "Grab the smooth gray kitchenpot and lift together", + "Lift the round kitchenpot with handles upward with both arms", + "Hold the cooking kitchenpot with side grips with both arms", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Hold the metal kitchenpot firmly and lift it", + "Raise the metal kitchenpot upward with both hands", + "Lift the cooking kitchenpot with side grips up using your arms", + "Hold the round kitchenpot with handles firmly and move upward.", + "Place hands on the smooth gray kitchenpot, then lift.", + "Raise the medium-sized kitchenpot securely with arms", + "Secure the smooth gray kitchenpot and lift it up", + "Secure the metal kitchenpot and lift upward.", + "Support the cylindrical kitchenpot and raise it upward", + "Take hold of the cooking kitchenpot with side grips and lift up" + ], + "unseen": [ + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode37.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..2a979e45fcfd6d8c5ccc6fb9479ba77f2473b860 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Securely lift the smooth gray kitchenpot together", + "Carry the metal kitchenpot securely using arms", + "Hold and raise the round kitchenpot with handles together", + "Lift the smooth gray kitchenpot up using your arms", + "Take hold of the round kitchenpot with handles and lift up", + "Raise the smooth gray kitchenpot with strong support", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Pick up the kitchenpot with smooth exterior with both arms", + "Secure the cylindrical kitchenpot and lift upward.", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Hold the medium-sized kitchenpot firmly and lift it", + "Secure the kitchenpot with smooth exterior and lift it up", + "Hold the kitchenpot with smooth exterior and lift upward", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Hold and raise the medium-sized kitchenpot together", + "Grab the metal kitchenpot and lift together", + "Raise the cylindrical kitchenpot using both arms", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Grab the gray kitchenpot and lift it upwards", + "Lift the round kitchenpot with handles steadily using arms", + "Hold the round kitchenpot with handles firmly with arms", + "Grab the round kitchenpot with handles using both arms", + "Bring the gray kitchenpot up together", + "Lift the gray kitchenpot up together", + "Raise the medium kitchenpot made of metal evenly with arms", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Raise the kitchenpot with smooth exterior together with arms", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Raise and hold the kitchenpot for boiling and cooking together", + "Lift the metal kitchenpot upwards with care", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Lift the round kitchenpot with handles using both arms now.", + "Hold the round kitchenpot with handles with both arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Raise the medium-sized kitchenpot together using arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Bring the medium-sized kitchenpot upwards together", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Raise the gray kitchenpot securely with arms", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Engage arms to grip and lift the metal kitchenpot.", + "Pick up the cylindrical kitchenpot with careful lifting", + "Support the cylindrical kitchenpot and raise it upward", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Securely lift the cooking kitchenpot with side grips together", + "Carry the round kitchenpot with handles securely using arms", + "Hold and raise the cylindrical kitchenpot together", + "Lift the metal kitchenpot up using your arms", + "Take hold of the dark gray stove kitchenpot and lift up", + "Raise the medium kitchenpot made of metal with strong support", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Pick up the medium-sized kitchenpot with both arms", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Raise the dark gray stove kitchenpot steadily using arms", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Hold the round kitchenpot with handles firmly, then lift.", + "Use arms to lift the smooth gray kitchenpot upward", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Use both arms to raise the cooking kitchenpot with side grips", + "Hold the round kitchenpot with handles firmly and lift it", + "Secure the gray kitchenpot and lift it up", + "Hold the cylindrical kitchenpot and lift upward", + "Both arms lift the gray kitchenpot upright", + "Hold and raise the cylindrical kitchenpot together", + "Grab the dark gray stove kitchenpot and lift together", + "Raise the gray kitchenpot using both arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Lift the cylindrical kitchenpot steadily using arms", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Grab the medium kitchenpot made of metal using both arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Lift the smooth gray kitchenpot up together", + "Raise the medium kitchenpot made of metal evenly with arms", + "Raise the gray kitchenpot upward with both hands", + "Raise the medium kitchenpot made of metal together with arms", + "Grab the cooking kitchenpot with side grips and lift it up", + "Raise and hold the metal kitchenpot together", + "Lift the cylindrical kitchenpot upwards with care", + "Place hands on the medium-sized kitchenpot, then lift.", + "Lift the cylindrical kitchenpot using both arms now.", + "Hold the cooking kitchenpot with side grips with both arms", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Lift the gray kitchenpot upward and hold it", + "Raise the smooth gray kitchenpot together using arms", + "Lift the round kitchenpot with handles steadily with support", + "Bring the kitchenpot for boiling and cooking upwards together", + "Grasp the round kitchenpot with handles and elevate together.", + "Raise the cooking kitchenpot with side grips securely with arms", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Pick up the round kitchenpot with handles with careful lifting", + "Support the smooth gray kitchenpot and raise it upward", + "Lift the cylindrical kitchenpot carefully using arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode38.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..73b431655d246a7483f2170bb1bafcaec306c51b --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and raise the kitchenpot with smooth exterior together", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the gray kitchenpot using both arms now.", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Lift the dark gray stove kitchenpot upwards with care", + "Raise and hold the cylindrical kitchenpot together", + "Lift the medium-sized kitchenpot upward and hold it", + "Raise the medium kitchenpot made of metal using both arms", + "Grab the medium-sized kitchenpot and lift together", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Lift the smooth gray kitchenpot steadily with support", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Raise the kitchenpot with smooth exterior with strong support", + "Lift the gray kitchenpot upward with both arms", + "Grab the medium kitchenpot made of metal using both arms", + "Raise the medium kitchenpot made of metal together with arms", + "Place hands on the gray kitchenpot, then lift.", + "Use both arms to raise the cooking kitchenpot with side grips", + "Grab the cooking kitchenpot with side grips and lift it up", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Lift the metal kitchenpot steadily using arms", + "Pick up the cylindrical kitchenpot with both arms", + "Lift the metal kitchenpot up together", + "Grip the gray kitchenpot firmly and lift", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Take hold of the dark gray stove kitchenpot and lift up", + "Bring the smooth gray kitchenpot upwards together", + "Carry the cooking kitchenpot with side grips securely using arms", + "Raise the metal kitchenpot securely with arms", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise the metal kitchenpot upward with both hands", + "Support the medium kitchenpot made of metal and raise it upward", + "Hold the dark gray stove kitchenpot with both arms", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Both arms lift the smooth gray kitchenpot upright", + "Lift the medium-sized kitchenpot up using your arms", + "Raise the kitchenpot with smooth exterior together using arms", + "Use arms to lift the gray kitchenpot upward", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Securely lift the metal kitchenpot together", + "Bring the cooking kitchenpot with side grips up together", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Secure the metal kitchenpot and lift it up", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Hold and raise the gray kitchenpot together", + "Hold and raise the cylindrical kitchenpot together", + "Lift the cylindrical kitchenpot using both arms now.", + "Lift the gray kitchenpot carefully using both arms.", + "Lift the round kitchenpot with handles upwards with care", + "Raise and hold the medium-sized kitchenpot together", + "Lift the round kitchenpot with handles upward and hold it", + "Raise the gray kitchenpot using both arms", + "Grab the medium-sized kitchenpot and lift together", + "Hold the medium-sized kitchenpot firmly and lift it", + "Lift the medium-sized kitchenpot steadily with support", + "Use both arms to raise the gray kitchenpot.", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Raise the kitchenpot for boiling and cooking with strong support", + "Lift the dark gray stove kitchenpot upward with both arms", + "Grab the cylindrical kitchenpot using both arms", + "Raise the smooth gray kitchenpot together with arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Use both arms to raise the kitchenpot with smooth exterior", + "Grab the kitchenpot with smooth exterior and lift it up", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Lift the smooth gray kitchenpot steadily using arms", + "Pick up the dark gray stove kitchenpot with both arms", + "Lift the dark gray stove kitchenpot up together", + "Grip the medium-sized kitchenpot firmly and lift", + "Secure the medium-sized kitchenpot and lift upward.", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Bring the medium kitchenpot made of metal upwards together", + "Carry the medium-sized kitchenpot securely using arms", + "Raise the dark gray stove kitchenpot securely with arms", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Raise the gray kitchenpot steadily using arms", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Raise the medium kitchenpot made of metal evenly with arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Support the round kitchenpot with handles and raise it upward", + "Hold the cooking kitchenpot with side grips with both arms", + "Grasp the medium-sized kitchenpot and elevate together.", + "Hold the kitchenpot with smooth exterior and lift upward", + "Both arms lift the gray kitchenpot upright", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Raise the cooking kitchenpot with side grips together using arms", + "Use arms to lift the round kitchenpot with handles upward", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Securely lift the smooth gray kitchenpot together", + "Bring the medium kitchenpot made of metal up together", + "Hold the medium-sized kitchenpot firmly, then lift.", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Secure the cooking kitchenpot with side grips and lift it up", + "Lift the round kitchenpot with handles carefully using arms" + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode39.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..c4731d71a381f1531f5dcab97bf2551116e4810f --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the round kitchenpot with handles carefully using both arms.", + "Carry the metal kitchenpot securely using arms", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Securely lift the medium kitchenpot made of metal together", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Support the medium kitchenpot made of metal and raise it upward", + "Lift the metal kitchenpot carefully using arms", + "Lift the cooking kitchenpot with side grips up using your arms", + "Hold the dark gray stove kitchenpot firmly with arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Hold and raise the metal kitchenpot together", + "Hold the cylindrical kitchenpot with both arms", + "Grip the medium-sized kitchenpot firmly and lift", + "Bring the kitchenpot with smooth exterior up together", + "Place hands on the metal kitchenpot, then lift.", + "Lift the kitchenpot with smooth exterior up together", + "Raise the dark gray stove kitchenpot with strong support", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Lift the medium-sized kitchenpot steadily using arms", + "Both arms lift the kitchenpot with smooth exterior upright", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Raise the dark gray stove kitchenpot together using arms", + "Grasp the gray kitchenpot and elevate together.", + "Raise the round kitchenpot with handles together with arms", + "Use both arms to raise the metal kitchenpot", + "Bring the kitchenpot with smooth exterior upwards together", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Grab the gray kitchenpot and lift it upwards", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Hold the metal kitchenpot firmly and move upward.", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Secure the medium-sized kitchenpot and lift it up", + "Lift the gray kitchenpot upward with both arms", + "Pick up the medium kitchenpot made of metal with both arms", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Pick up the gray kitchenpot with careful lifting", + "Raise the medium-sized kitchenpot using both arms", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Raise the round kitchenpot with handles securely with arms", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Grab the round kitchenpot with handles and lift it up", + "Hold and raise the gray kitchenpot together", + "Grab the kitchenpot with smooth exterior using both arms", + "Grab the kitchenpot for boiling and cooking and lift together", + "Raise and hold the dark gray stove kitchenpot together", + "Secure the medium-sized kitchenpot and lift upward.", + "Take hold of the dark gray stove kitchenpot and lift up", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Carry the medium-sized kitchenpot securely using arms", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Securely lift the medium kitchenpot made of metal together", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Support the gray kitchenpot and raise it upward", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Lift the medium kitchenpot made of metal up using your arms", + "Hold the medium kitchenpot made of metal firmly with arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Hold the medium-sized kitchenpot with both arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Bring the cylindrical kitchenpot up together", + "Place hands on the metal kitchenpot, then lift.", + "Lift the gray kitchenpot up together", + "Raise the gray kitchenpot with strong support", + "Lift the kitchenpot with smooth exterior steadily with support", + "Lift the round kitchenpot with handles steadily using arms", + "Both arms lift the cylindrical kitchenpot upright", + "Hold the cylindrical kitchenpot and lift upward", + "Raise the smooth gray kitchenpot together using arms", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Raise the dark gray stove kitchenpot together with arms", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Use arms to lift the cylindrical kitchenpot upward", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the smooth gray kitchenpot upward with both arms", + "Pick up the cooking kitchenpot with side grips with both arms", + "Lift the gray kitchenpot upwards with care", + "Lift the medium kitchenpot made of metal using both arms now.", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Raise the dark gray stove kitchenpot using both arms", + "Raise the cylindrical kitchenpot upward with both hands", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Grab the round kitchenpot with handles and lift it up", + "Hold and raise the smooth gray kitchenpot together", + "Grab the dark gray stove kitchenpot using both arms", + "Grab the cylindrical kitchenpot and lift together", + "Raise and hold the round kitchenpot with handles together", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Take hold of the cylindrical kitchenpot and lift up" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode4.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..158051d93987d3fc9281f6b0aa9214111d398268 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and raise the medium-sized kitchenpot together", + "Lift the metal kitchenpot up together", + "Use arms to lift the medium-sized kitchenpot upward", + "Lift the cooking kitchenpot with side grips up using your arms", + "Both arms lift the gray kitchenpot upright", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Lift the round kitchenpot with handles steadily using arms", + "Raise the cylindrical kitchenpot together using arms", + "Take hold of the metal kitchenpot and lift up", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Bring the medium kitchenpot made of metal up together", + "Lift the round kitchenpot with handles upward and hold it", + "Raise the gray kitchenpot using both arms", + "Grab the cylindrical kitchenpot and lift it up", + "Bring the smooth gray kitchenpot upwards together", + "Carry the medium kitchenpot made of metal securely using arms", + "Pick up the medium-sized kitchenpot with careful lifting", + "Raise the kitchenpot with smooth exterior with strong support", + "Lift the metal kitchenpot upwards with care", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Hold the cylindrical kitchenpot firmly and lift it", + "Raise the medium-sized kitchenpot evenly with arms", + "Raise the kitchenpot with smooth exterior together with arms", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Support the gray kitchenpot and raise it upward", + "Pick up the round kitchenpot with handles with both arms", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Raise the cylindrical kitchenpot securely with arms", + "Grab the smooth gray kitchenpot using both arms", + "Grasp the round kitchenpot with handles and elevate together.", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Lift the smooth gray kitchenpot carefully using arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Hold the gray kitchenpot and lift upward", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Raise and hold the cooking kitchenpot with side grips together", + "Raise the dark gray stove kitchenpot steadily using arms", + "Hold the medium-sized kitchenpot with both arms", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Use both arms to raise the metal kitchenpot.", + "Secure the dark gray stove kitchenpot and lift upward.", + "Hold the metal kitchenpot firmly with arms", + "Lift the gray kitchenpot steadily with support", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Hold and raise the round kitchenpot with handles together", + "Securely lift the round kitchenpot with handles together", + "Use both arms to raise the metal kitchenpot", + "Hold and raise the gray kitchenpot together", + "Lift the dark gray stove kitchenpot up together", + "Use arms to lift the medium kitchenpot made of metal upward", + "Lift the cylindrical kitchenpot up using your arms", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Raise the round kitchenpot with handles together using arms", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Bring the smooth gray kitchenpot up together", + "Lift the medium kitchenpot made of metal upward and hold it", + "Raise the smooth gray kitchenpot using both arms", + "Grab the smooth gray kitchenpot and lift it up", + "Bring the medium-sized kitchenpot upwards together", + "Carry the cooking kitchenpot with side grips securely using arms", + "Pick up the medium-sized kitchenpot with careful lifting", + "Raise the gray kitchenpot with strong support", + "Lift the smooth gray kitchenpot upwards with care", + "Lift the medium kitchenpot made of metal using both arms now.", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Hold the cylindrical kitchenpot firmly and lift it", + "Raise the metal kitchenpot evenly with arms", + "Raise the medium kitchenpot made of metal together with arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Grab the cylindrical kitchenpot and lift together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Raise the cylindrical kitchenpot securely with arms", + "Grab the smooth gray kitchenpot using both arms", + "Grasp the medium-sized kitchenpot and elevate together.", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Lift the round kitchenpot with handles carefully using arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Hold the cooking kitchenpot with side grips and lift upward", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Raise and hold the medium kitchenpot made of metal together", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Hold the metal kitchenpot with both arms", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Use both arms to raise the medium-sized kitchenpot.", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Hold the smooth gray kitchenpot firmly with arms", + "Lift the metal kitchenpot steadily with support", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Hold and raise the medium kitchenpot made of metal together", + "Securely lift the smooth gray kitchenpot together", + "Use both arms to raise the smooth gray kitchenpot" + ], + "unseen": [ + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode40.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..e619a359a54b4a414cccfec203c3dcffb5786d2e --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the round kitchenpot with handles upward with both hands", + "Bring the round kitchenpot with handles upwards together", + "Support the medium kitchenpot made of metal and raise it upward", + "Pick up the gray kitchenpot with both arms", + "Lift the round kitchenpot with handles upward with both arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Both arms lift the smooth gray kitchenpot upright", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Take hold of the medium kitchenpot made of metal and lift up", + "Use both arms to raise the cylindrical kitchenpot.", + "Raise the cooking kitchenpot with side grips securely with arms", + "Use arms to lift the dark gray stove kitchenpot upward", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Grab the smooth gray kitchenpot and lift it upwards", + "Grab the gray kitchenpot using both arms", + "Raise and hold the gray kitchenpot together", + "Raise the medium kitchenpot made of metal together with arms", + "Lift the smooth gray kitchenpot upwards with care", + "Hold and raise the dark gray stove kitchenpot together", + "Carry the kitchenpot with smooth exterior securely using arms", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Raise the medium-sized kitchenpot using both arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Pick up the medium-sized kitchenpot with careful lifting", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Raise the smooth gray kitchenpot with strong support", + "Hold the medium-sized kitchenpot with both arms", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Bring the dark gray stove kitchenpot up together", + "Hold the medium-sized kitchenpot and lift upward", + "Lift the cylindrical kitchenpot up together", + "Use both arms to raise the metal kitchenpot", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Grab the kitchenpot with smooth exterior and lift it up", + "Lift the round kitchenpot with handles carefully using arms", + "Lift the dark gray stove kitchenpot steadily using arms", + "Lift the smooth gray kitchenpot up using your arms", + "Securely lift the kitchenpot for boiling and cooking together", + "Hold the medium-sized kitchenpot firmly with arms", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Raise the medium kitchenpot made of metal together using arms", + "Grasp the metal kitchenpot and elevate together.", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Hold and raise the metal kitchenpot together", + "Lift the dark gray stove kitchenpot upward and hold it", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Hold the metal kitchenpot firmly and move upward.", + "Raise the metal kitchenpot upward with both hands", + "Bring the cooking kitchenpot with side grips upwards together", + "Support the cylindrical kitchenpot and raise it upward", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Lift the gray kitchenpot steadily with support", + "Both arms lift the cooking kitchenpot with side grips upright", + "Raise the metal kitchenpot evenly with arms", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Use both arms to raise the round kitchenpot with handles.", + "Raise the medium-sized kitchenpot securely with arms", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Engage arms to grip and lift the gray kitchenpot.", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Grab the cylindrical kitchenpot using both arms", + "Raise and hold the round kitchenpot with handles together", + "Raise the round kitchenpot with handles together with arms", + "Lift the smooth gray kitchenpot upwards with care", + "Hold and raise the kitchenpot with smooth exterior together", + "Carry the cooking kitchenpot with side grips securely using arms", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Raise the cylindrical kitchenpot using both arms", + "Grip the gray kitchenpot firmly and lift", + "Pick up the gray kitchenpot with careful lifting", + "Secure the gray kitchenpot and lift upward.", + "Lift the smooth gray kitchenpot using both arms now.", + "Grab the cylindrical kitchenpot and lift together", + "Raise the cylindrical kitchenpot with strong support", + "Hold the gray kitchenpot with both arms", + "Raise the round kitchenpot with handles steadily using arms", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Bring the medium kitchenpot made of metal up together", + "Hold the dark gray stove kitchenpot and lift upward", + "Lift the cylindrical kitchenpot up together", + "Use both arms to raise the cooking kitchenpot with side grips", + "Place hands on the medium-sized kitchenpot, then lift.", + "Grab the smooth gray kitchenpot and lift it up", + "Lift the gray kitchenpot carefully using arms", + "Lift the dark gray stove kitchenpot steadily using arms", + "Lift the smooth gray kitchenpot up using your arms", + "Securely lift the gray kitchenpot together", + "Hold the metal kitchenpot firmly with arms", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Raise the smooth gray kitchenpot together using arms", + "Grasp the gray kitchenpot and elevate together.", + "Secure the smooth gray kitchenpot and lift it up", + "Hold and raise the cylindrical kitchenpot together", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Hold the kitchenpot for boiling and cooking firmly and move upward." + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode41.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..4a2d2d0c07a8d1598cd1496a10c8193d4f4a686e --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the cylindrical kitchenpot and lift it upwards", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Raise and hold the cylindrical kitchenpot together", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Lift the cylindrical kitchenpot up using your arms", + "Grab the kitchenpot with smooth exterior and lift it up", + "Both arms lift the smooth gray kitchenpot upright", + "Take hold of the metal kitchenpot and lift up", + "Grab the medium-sized kitchenpot using both arms", + "Lift the round kitchenpot with handles using both arms now.", + "Pick up the gray kitchenpot with both arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Carry the medium kitchenpot made of metal securely using arms", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Securely lift the smooth gray kitchenpot together", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Lift the round kitchenpot with handles upward with both arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Raise the kitchenpot with smooth exterior together with arms", + "Lift the smooth gray kitchenpot steadily with support", + "Grip the cylindrical kitchenpot firmly and lift", + "Lift the cylindrical kitchenpot upward and hold it", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Hold the round kitchenpot with handles firmly with arms", + "Hold and raise the smooth gray kitchenpot together", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Raise the smooth gray kitchenpot steadily using arms", + "Secure the cylindrical kitchenpot and lift it up", + "Bring the medium kitchenpot made of metal upwards together", + "Lift the gray kitchenpot steadily using arms", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Lift the medium-sized kitchenpot up together", + "Grab the round kitchenpot with handles and lift together", + "Raise the dark gray stove kitchenpot evenly with arms", + "Raise the medium-sized kitchenpot together using arms", + "Raise the gray kitchenpot securely with arms", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Use both arms to raise the kitchenpot with smooth exterior", + "Grasp the medium-sized kitchenpot and elevate together.", + "Place hands on the gray kitchenpot, then lift.", + "Hold the kitchenpot for boiling and cooking with both arms", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Raise the cooking kitchenpot with side grips with strong support", + "Raise the medium-sized kitchenpot using both arms", + "Hold the metal kitchenpot firmly and move upward.", + "Lift the round kitchenpot with handles upwards with care", + "Grab the metal kitchenpot and lift it upwards", + "Hold the gray kitchenpot firmly, then lift.", + "Raise and hold the dark gray stove kitchenpot together", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Lift the medium-sized kitchenpot carefully using arms", + "Lift the kitchenpot with smooth exterior up using your arms", + "Grab the metal kitchenpot and lift it up", + "Both arms lift the kitchenpot with smooth exterior upright", + "Take hold of the cylindrical kitchenpot and lift up", + "Grab the medium-sized kitchenpot using both arms", + "Lift the smooth gray kitchenpot using both arms now.", + "Pick up the smooth gray kitchenpot with both arms", + "Use arms to lift the cylindrical kitchenpot upward", + "Raise the cooking kitchenpot with side grips upward with both hands", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Carry the cooking kitchenpot with side grips securely using arms", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Securely lift the cooking kitchenpot with side grips together", + "Hold the dark gray stove kitchenpot and lift upward", + "Lift the medium-sized kitchenpot upward with both arms", + "Bring the medium-sized kitchenpot up together", + "Raise the round kitchenpot with handles together with arms", + "Lift the cooking kitchenpot with side grips steadily with support", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Lift the smooth gray kitchenpot upward and hold it", + "Hold and raise the dark gray stove kitchenpot together", + "Use both arms to raise the metal kitchenpot.", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Hold and raise the metal kitchenpot together", + "Support the dark gray stove kitchenpot and raise it upward", + "Raise the medium kitchenpot made of metal steadily using arms", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Bring the round kitchenpot with handles upwards together", + "Lift the smooth gray kitchenpot steadily using arms", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Lift the smooth gray kitchenpot up together", + "Grab the smooth gray kitchenpot and lift together", + "Raise the gray kitchenpot evenly with arms", + "Raise the cylindrical kitchenpot together using arms", + "Raise the medium kitchenpot made of metal securely with arms", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Use both arms to raise the smooth gray kitchenpot", + "Grasp the smooth gray kitchenpot and elevate together.", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Hold the medium kitchenpot made of metal with both arms", + "Secure the cylindrical kitchenpot and lift upward.", + "Raise the gray kitchenpot with strong support", + "Raise the cooking kitchenpot with side grips using both arms", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Lift the medium-sized kitchenpot upwards with care" + ], + "unseen": [ + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode42.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..45958862e5eff6bdc1c04c7c6b4df8f6c9454d39 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the gray kitchenpot together using arms", + "Lift the dark gray stove kitchenpot steadily using arms", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Engage arms to grip and lift the metal kitchenpot.", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Pick up the kitchenpot with smooth exterior with both arms", + "Hold the gray kitchenpot firmly and lift it", + "Use both arms to raise the dark gray stove kitchenpot", + "Both arms lift the medium kitchenpot made of metal upright", + "Raise the cylindrical kitchenpot together with arms", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Lift the metal kitchenpot upward with both arms", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Raise the kitchenpot with smooth exterior securely with arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Raise the kitchenpot for boiling and cooking with strong support", + "Securely lift the cylindrical kitchenpot together", + "Lift the medium kitchenpot made of metal carefully using arms", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Place hands on the cylindrical kitchenpot, then lift.", + "Raise and hold the medium-sized kitchenpot together", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Raise the cylindrical kitchenpot upward with both hands", + "Grab the kitchenpot with smooth exterior and lift it up", + "Hold the round kitchenpot with handles firmly with arms", + "Lift the medium-sized kitchenpot steadily with support", + "Hold the cooking kitchenpot with side grips and lift upward", + "Raise the gray kitchenpot evenly with arms", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Support the dark gray stove kitchenpot and raise it upward", + "Grab the cylindrical kitchenpot and lift it upwards", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the cooking kitchenpot with side grips upwards with care", + "Grab the medium-sized kitchenpot using both arms", + "Lift the metal kitchenpot up together", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Secure the cooking kitchenpot with side grips and lift it up", + "Grab the smooth gray kitchenpot and lift together", + "Take hold of the cylindrical kitchenpot and lift up", + "Bring the cooking kitchenpot with side grips upwards together", + "Carry the cooking kitchenpot with side grips securely using arms", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Bring the smooth gray kitchenpot up together", + "Raise the gray kitchenpot together using arms", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Pick up the metal kitchenpot with careful lifting", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Pick up the round kitchenpot with handles with both arms", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Use both arms to raise the metal kitchenpot", + "Both arms lift the medium kitchenpot made of metal upright", + "Raise the gray kitchenpot together with arms", + "Hold the round kitchenpot with handles firmly and move upward.", + "Lift the smooth gray kitchenpot upward with both arms", + "Raise the dark gray stove kitchenpot using both arms", + "Raise the gray kitchenpot securely with arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Raise the smooth gray kitchenpot with strong support", + "Securely lift the medium-sized kitchenpot together", + "Lift the cylindrical kitchenpot carefully using arms", + "Lift the cooking kitchenpot with side grips up using your arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Place hands on the smooth gray kitchenpot, then lift.", + "Raise and hold the cooking kitchenpot with side grips together", + "Lift the medium-sized kitchenpot using both arms now.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Raise the dark gray stove kitchenpot upward with both hands", + "Grab the round kitchenpot with handles and lift it up", + "Hold the dark gray stove kitchenpot firmly with arms", + "Lift the medium-sized kitchenpot steadily with support", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Raise the gray kitchenpot evenly with arms", + "Secure the medium kitchenpot made of metal and lift upward.", + "Lift the round kitchenpot with handles carefully using both arms.", + "Support the cylindrical kitchenpot and raise it upward", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Hold and raise the gray kitchenpot together", + "Lift the kitchenpot with smooth exterior upwards with care", + "Grab the round kitchenpot with handles using both arms", + "Lift the gray cylindrical metal kitchenpot up together", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Hold and raise the round kitchenpot with handles together", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Grab the round kitchenpot with handles and lift together", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Bring the cylindrical kitchenpot upwards together", + "Carry the metal kitchenpot securely using arms", + "Hold the round kitchenpot with handles with both arms", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Grip the round kitchenpot with handles firmly and lift", + "Bring the medium kitchenpot made of metal up together" + ], + "unseen": [ + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode43.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..d3fce92c8c7ca162d00fd3cfe8104a5dc0cea7e1 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray kitchenpot up using your arms", + "Hold the dark gray stove kitchenpot and lift upward", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Secure the medium kitchenpot made of metal and lift upward.", + "Grab the kitchenpot with smooth exterior and lift together", + "Lift the medium-sized kitchenpot steadily with support", + "Raise the kitchenpot for boiling and cooking together using arms", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Securely lift the kitchenpot for boiling and cooking together", + "Hold and raise the smooth gray kitchenpot together", + "Raise the dark gray stove kitchenpot using both arms", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Use both arms to raise the round kitchenpot with handles.", + "Raise the kitchenpot for boiling and cooking with strong support", + "Support the cylindrical kitchenpot and raise it upward", + "Hold the kitchenpot for boiling and cooking with both arms", + "Grab the gray kitchenpot using both arms", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Grab the gray kitchenpot and lift it upwards", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Grasp the smooth gray kitchenpot and elevate together.", + "Lift the medium kitchenpot made of metal upward and hold it", + "Pick up the gray kitchenpot with careful lifting", + "Secure the medium kitchenpot made of metal and lift it up", + "Pick up the round kitchenpot with handles with both arms", + "Raise and hold the smooth gray kitchenpot together", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Hold the round kitchenpot with handles firmly and move upward.", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Lift the dark gray stove kitchenpot using both arms now.", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Hold and raise the gray kitchenpot together", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Raise the kitchenpot with smooth exterior together with arms", + "Lift the metal kitchenpot steadily using arms", + "Bring the dark gray stove kitchenpot up together", + "Grab the metal kitchenpot and lift it up", + "Raise the medium-sized kitchenpot upward with both hands", + "Raise the cooking kitchenpot with side grips securely with arms", + "Bring the metal kitchenpot upwards together", + "Use both arms to raise the dark gray stove kitchenpot", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Raise the round kitchenpot with handles steadily using arms", + "Lift the medium-sized kitchenpot up together", + "Lift the round kitchenpot with handles upwards with care", + "Lift the cooking kitchenpot with side grips up using your arms", + "Hold the round kitchenpot with handles and lift upward", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Secure the smooth gray kitchenpot and lift upward.", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Lift the metal kitchenpot steadily with support", + "Raise the kitchenpot for boiling and cooking together using arms", + "Place hands on the smooth gray kitchenpot, then lift.", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Securely lift the cylindrical kitchenpot together", + "Hold and raise the metal kitchenpot together", + "Raise the kitchenpot with smooth exterior using both arms", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Hold the round kitchenpot with handles firmly, then lift.", + "Use both arms to raise the smooth gray kitchenpot.", + "Raise the cooking kitchenpot with side grips with strong support", + "Support the dark gray stove kitchenpot and raise it upward", + "Hold the kitchenpot with smooth exterior with both arms", + "Grab the smooth gray kitchenpot using both arms", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Grab the smooth gray kitchenpot and lift it upwards", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Secure the round kitchenpot with handles and lift it up", + "Pick up the medium kitchenpot made of metal with both arms", + "Raise and hold the kitchenpot for boiling and cooking together", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Lift the smooth gray kitchenpot using both arms now.", + "Hold the smooth gray kitchenpot firmly and lift it", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Hold and raise the dark gray stove kitchenpot together", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Raise the smooth gray kitchenpot together with arms", + "Lift the round kitchenpot with handles steadily using arms", + "Bring the kitchenpot with smooth exterior up together", + "Grab the kitchenpot with smooth exterior and lift it up", + "Raise the cylindrical kitchenpot upward with both hands", + "Raise the cylindrical kitchenpot securely with arms", + "Bring the smooth gray kitchenpot upwards together", + "Use both arms to raise the cooking kitchenpot with side grips", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Raise the smooth gray kitchenpot steadily using arms", + "Lift the metal kitchenpot up together", + "Lift the round kitchenpot with handles upwards with care" + ], + "unseen": [ + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode44.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..6c8c63ed16b5b5746c66006f344c94a20c5177d1 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the medium kitchenpot made of metal steadily using arms", + "Lift the cylindrical kitchenpot steadily using arms", + "Hold the smooth gray kitchenpot firmly with arms", + "Carry the round kitchenpot with handles securely using arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Use both arms to raise the round kitchenpot with handles.", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Grasp the cylindrical kitchenpot and elevate together.", + "Raise the cylindrical kitchenpot securely with arms", + "Raise the cylindrical kitchenpot with strong support", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Pick up the medium kitchenpot made of metal with both arms", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Grab the kitchenpot with smooth exterior and lift together", + "Pick up the gray kitchenpot with careful lifting", + "Lift the gray kitchenpot upward and hold it", + "Raise the dark gray stove kitchenpot together using arms", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Grab the round kitchenpot with handles and lift it up", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Grab the medium kitchenpot made of metal using both arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Raise the smooth gray kitchenpot using both arms", + "Raise and hold the medium-sized kitchenpot together", + "Secure the gray kitchenpot and lift it up", + "Bring the round kitchenpot with handles up together", + "Lift the gray kitchenpot upwards with care", + "Both arms lift the cooking kitchenpot with side grips upright", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Lift the cylindrical kitchenpot steadily with support", + "Lift the smooth gray kitchenpot using both arms now.", + "Hold the dark gray stove kitchenpot with both arms", + "Lift the cylindrical kitchenpot up together", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Hold the medium kitchenpot made of metal and lift upward", + "Raise the dark gray stove kitchenpot together with arms", + "Lift the round kitchenpot with handles carefully using arms", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Securely lift the medium-sized kitchenpot together", + "Raise the dark gray stove kitchenpot evenly with arms", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Grip the medium kitchenpot made of metal firmly and lift", + "Hold and raise the medium-sized kitchenpot together", + "Use both arms to raise the medium-sized kitchenpot", + "Hold and raise the gray kitchenpot together", + "Support the smooth gray kitchenpot and raise it upward", + "Bring the gray kitchenpot upwards together", + "Raise the round kitchenpot with handles steadily using arms", + "Lift the dark gray stove kitchenpot steadily using arms", + "Hold the medium kitchenpot made of metal firmly with arms", + "Carry the medium kitchenpot made of metal securely using arms", + "Raise the gray kitchenpot upward with both hands", + "Use both arms to raise the round kitchenpot with handles.", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Grasp the medium-sized kitchenpot and elevate together.", + "Raise the smooth gray kitchenpot securely with arms", + "Raise the medium-sized kitchenpot with strong support", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Lift the metal kitchenpot carefully using both arms.", + "Lift the metal kitchenpot up using your arms", + "Grab the round kitchenpot with handles and lift together", + "Pick up the smooth gray kitchenpot with careful lifting", + "Lift the cylindrical kitchenpot upward and hold it", + "Raise the round kitchenpot with handles together using arms", + "Use arms to lift the gray kitchenpot upward", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Grab the cylindrical kitchenpot using both arms", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Raise the cooking kitchenpot with side grips using both arms", + "Raise and hold the smooth gray kitchenpot together", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Bring the medium-sized kitchenpot up together", + "Lift the cylindrical kitchenpot upwards with care", + "Both arms lift the medium kitchenpot made of metal upright", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Lift the round kitchenpot with handles using both arms now.", + "Hold the kitchenpot for boiling and cooking with both arms", + "Lift the gray cylindrical metal kitchenpot up together", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Raise the kitchenpot with smooth exterior together with arms", + "Lift the dark gray stove kitchenpot carefully using arms", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Securely lift the smooth gray kitchenpot together", + "Raise the cylindrical kitchenpot evenly with arms", + "Grab the medium-sized kitchenpot and lift it upwards", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Hold and raise the medium-sized kitchenpot together", + "Use both arms to raise the round kitchenpot with handles", + "Hold and raise the dark gray stove kitchenpot together", + "Support the medium-sized kitchenpot and raise it upward", + "Bring the kitchenpot with smooth exterior upwards together" + ], + "unseen": [ + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode45.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..0ecd7a652586a8cf96f4c72a9a5bea5302fe5111 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the smooth gray kitchenpot and lift it up", + "Hold the dark gray stove kitchenpot with both arms", + "Hold the smooth gray kitchenpot firmly and lift it", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Securely lift the cylindrical kitchenpot together", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Take hold of the gray kitchenpot and lift up", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Use both arms to raise the gray kitchenpot", + "Secure the medium-sized kitchenpot and lift upward.", + "Grab the cylindrical kitchenpot and lift it up", + "Raise the gray kitchenpot using both arms", + "Lift the metal kitchenpot using both arms now.", + "Raise the cylindrical kitchenpot with strong support", + "Raise and hold the medium-sized kitchenpot together", + "Lift the cylindrical kitchenpot upward and hold it", + "Lift the round kitchenpot with handles steadily using arms", + "Lift the gray cylindrical metal kitchenpot up together", + "Lift the medium-sized kitchenpot carefully using arms", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Lift the medium-sized kitchenpot upward with both arms", + "Hold the round kitchenpot with handles firmly, then lift.", + "Lift the cooking kitchenpot with side grips steadily with support", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Raise the dark gray stove kitchenpot upward with both hands", + "Hold and raise the kitchenpot with smooth exterior together", + "Bring the gray kitchenpot upwards together", + "Use both arms to raise the smooth gray kitchenpot.", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Carry the metal kitchenpot securely using arms", + "Hold and raise the metal kitchenpot together", + "Grab the kitchenpot with smooth exterior using both arms", + "Both arms lift the metal kitchenpot upright", + "Bring the round kitchenpot with handles up together", + "Pick up the round kitchenpot with handles with careful lifting", + "Lift the kitchenpot with smooth exterior upwards with care", + "Grasp the round kitchenpot with handles and elevate together.", + "Grip the cylindrical kitchenpot firmly and lift", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Raise the cylindrical kitchenpot steadily using arms", + "Hold the kitchenpot with smooth exterior and lift upward", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Raise the dark gray stove kitchenpot together using arms", + "Raise the smooth gray kitchenpot securely with arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Raise the dark gray stove kitchenpot together with arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Hold the kitchenpot with smooth exterior with both arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Raise the medium-sized kitchenpot evenly with arms", + "Hold the medium-sized kitchenpot firmly with arms", + "Securely lift the gray cylindrical metal kitchenpot together", + "Support the gray kitchenpot and raise it upward", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Lift the gray kitchenpot up using your arms", + "Use both arms to raise the medium-sized kitchenpot", + "Secure the round kitchenpot with handles and lift upward.", + "Grab the smooth gray kitchenpot and lift it up", + "Raise the cylindrical kitchenpot using both arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Raise and hold the round kitchenpot with handles together", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Lift the smooth gray kitchenpot steadily using arms", + "Lift the medium-sized kitchenpot up together", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Lift the smooth gray kitchenpot steadily with support", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Use arms to lift the medium kitchenpot made of metal upward", + "Raise the dark gray stove kitchenpot upward with both hands", + "Hold and raise the cylindrical kitchenpot together", + "Bring the round kitchenpot with handles upwards together", + "Use both arms to raise the medium-sized kitchenpot.", + "Place hands on the dark gray stove kitchenpot, then lift.", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Carry the round kitchenpot with handles securely using arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Grab the kitchenpot for boiling and cooking using both arms", + "Both arms lift the cooking kitchenpot with side grips upright", + "Bring the medium kitchenpot made of metal up together", + "Pick up the medium-sized kitchenpot with careful lifting", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Grasp the smooth gray kitchenpot and elevate together.", + "Grip the medium-sized kitchenpot firmly and lift", + "Grab the kitchenpot with smooth exterior and lift together", + "Raise the round kitchenpot with handles steadily using arms", + "Hold the dark gray stove kitchenpot and lift upward", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Raise the cooking kitchenpot with side grips together using arms", + "Raise the smooth gray kitchenpot securely with arms", + "Pick up the cooking kitchenpot with side grips with both arms", + "Raise the kitchenpot with smooth exterior together with arms" + ], + "unseen": [ + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode46.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..e3778eae2cfaa06f1177e63f55c367d88a27f6f0 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and raise the cylindrical kitchenpot together", + "Grip the cylindrical kitchenpot firmly and lift", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Use both arms to raise the smooth gray kitchenpot", + "Raise the metal kitchenpot together with arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Bring the medium kitchenpot made of metal up together", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Place hands on the medium-sized kitchenpot, then lift.", + "Raise the smooth gray kitchenpot together using arms", + "Grab the medium kitchenpot made of metal and lift it up", + "Raise the medium-sized kitchenpot using both arms", + "Raise the medium-sized kitchenpot steadily using arms", + "Hold the cylindrical kitchenpot with both arms", + "Securely lift the round kitchenpot with handles together", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the cylindrical kitchenpot evenly with arms", + "Raise the metal kitchenpot with strong support", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Grab the smooth gray kitchenpot using both arms", + "Hold the round kitchenpot with handles firmly and move upward.", + "Pick up the dark gray stove kitchenpot with both arms", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Lift the dark gray stove kitchenpot using both arms now.", + "Use arms to lift the round kitchenpot with handles upward", + "Support the cylindrical kitchenpot and raise it upward", + "Use both arms to raise the gray kitchenpot.", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Bring the round kitchenpot with handles upwards together", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Secure the medium kitchenpot made of metal and lift it up", + "Raise and hold the gray kitchenpot together", + "Hold the medium-sized kitchenpot and lift upward", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Raise the metal kitchenpot upward with both hands", + "Lift the metal kitchenpot carefully using arms", + "Secure the metal kitchenpot and lift upward.", + "Both arms lift the cooking kitchenpot with side grips upright", + "Raise the round kitchenpot with handles securely with arms", + "Lift the smooth gray kitchenpot upwards with care", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Lift the medium-sized kitchenpot up using your arms", + "Grab the medium-sized kitchenpot and lift together", + "Lift the round kitchenpot with handles up together", + "Hold and raise the cylindrical kitchenpot together", + "Grip the metal kitchenpot firmly and lift", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Bring the cooking kitchenpot with side grips up together", + "Carry the metal kitchenpot securely using arms", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Lift the cylindrical kitchenpot upward with both arms", + "Pick up the cylindrical kitchenpot with careful lifting", + "Place hands on the cylindrical kitchenpot, then lift.", + "Raise the medium kitchenpot made of metal together using arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Raise the medium-sized kitchenpot using both arms", + "Raise the dark gray stove kitchenpot steadily using arms", + "Hold the metal kitchenpot with both arms", + "Securely lift the medium kitchenpot made of metal together", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise the metal kitchenpot evenly with arms", + "Raise the gray kitchenpot with strong support", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Grab the round kitchenpot with handles using both arms", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Pick up the medium-sized kitchenpot with both arms", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Lift the smooth gray kitchenpot using both arms now.", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Support the medium kitchenpot made of metal and raise it upward", + "Use both arms to raise the dark gray stove kitchenpot.", + "Take hold of the smooth gray kitchenpot and lift up", + "Grab the round kitchenpot with handles and lift it upwards", + "Bring the medium-sized kitchenpot upwards together", + "With arms, raise the metal kitchenpot upward slowly.", + "Secure the cooking kitchenpot with side grips and lift it up", + "Raise and hold the gray kitchenpot together", + "Hold the metal kitchenpot and lift upward", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Raise the dark gray stove kitchenpot upward with both hands", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Secure the cylindrical kitchenpot and lift upward.", + "Both arms lift the cooking kitchenpot with side grips upright", + "Raise the gray kitchenpot securely with arms", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Lift the metal kitchenpot carefully using both arms.", + "Lift the dark gray stove kitchenpot up using your arms", + "Grab the smooth gray kitchenpot and lift together", + "Lift the smooth gray kitchenpot up together" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode47.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..4465943507870a7dd05c200403d6440d5b071f71 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Carry the smooth gray kitchenpot securely using arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Use arms to lift the round kitchenpot with handles upward", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Secure the dark gray stove kitchenpot and lift it up", + "Raise the cooking kitchenpot with side grips upward with both hands", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Pick up the smooth gray kitchenpot with careful lifting", + "Lift the smooth gray kitchenpot up together", + "Lift the medium kitchenpot made of metal upward with both arms", + "Grasp the medium-sized kitchenpot and elevate together.", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Engage arms to grip and lift the metal kitchenpot.", + "Bring the kitchenpot with smooth exterior upwards together", + "Grab the metal kitchenpot and lift it upwards", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Support the cooking kitchenpot with side grips and raise it upward", + "Hold the medium kitchenpot made of metal and lift upward", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Grab the kitchenpot with smooth exterior and lift together", + "Hold the gray kitchenpot with both arms", + "Raise the dark gray stove kitchenpot evenly with arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Grab the cylindrical kitchenpot and lift it up", + "Raise the round kitchenpot with handles together with arms", + "Both arms lift the medium-sized kitchenpot upright", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Secure the cylindrical kitchenpot and lift upward.", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Raise and hold the dark gray stove kitchenpot together", + "Raise the kitchenpot with smooth exterior securely with arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Grab the smooth gray kitchenpot using both arms", + "Raise the medium kitchenpot made of metal with strong support", + "Securely lift the medium-sized kitchenpot together", + "Lift the medium-sized kitchenpot up using your arms", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Raise the kitchenpot with smooth exterior using both arms", + "Lift the round kitchenpot with handles steadily using arms", + "Hold and raise the medium-sized kitchenpot together", + "Raise the cooking kitchenpot with side grips together using arms", + "Use both arms to raise the gray kitchenpot", + "Lift the kitchenpot with smooth exterior steadily with support", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Lift the medium-sized kitchenpot using both arms now.", + "Hold the round kitchenpot with handles firmly with arms", + "Lift the round kitchenpot with handles upward and hold it", + "Carry the gray kitchenpot securely using arms", + "Bring the medium-sized kitchenpot up together", + "Use arms to lift the smooth gray kitchenpot upward", + "Place hands on the gray kitchenpot, then lift.", + "Secure the gray kitchenpot and lift it up", + "Raise the medium-sized kitchenpot upward with both hands", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Lift the kitchenpot for boiling and cooking up together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Grasp the medium-sized kitchenpot and elevate together.", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Hold and raise the smooth gray kitchenpot together", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Bring the gray kitchenpot upwards together", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Raise the medium kitchenpot made of metal steadily using arms", + "Support the gray kitchenpot and raise it upward", + "Hold the medium kitchenpot made of metal and lift upward", + "Use both arms to raise the smooth gray kitchenpot.", + "Grab the smooth gray kitchenpot and lift together", + "Hold the medium kitchenpot made of metal with both arms", + "Raise the round kitchenpot with handles evenly with arms", + "Pick up the gray kitchenpot with both arms", + "Lift the cooking kitchenpot with side grips upwards with care", + "Grab the medium kitchenpot made of metal and lift it up", + "Raise the medium-sized kitchenpot together with arms", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Hold the metal kitchenpot firmly, then lift.", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Raise and hold the kitchenpot with smooth exterior together", + "Raise the medium kitchenpot made of metal securely with arms", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Raise the dark gray stove kitchenpot with strong support", + "Securely lift the cylindrical kitchenpot together", + "Lift the smooth gray kitchenpot up using your arms", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Grip the cylindrical kitchenpot firmly and lift", + "Raise the round kitchenpot with handles using both arms", + "Lift the medium kitchenpot made of metal steadily using arms", + "Hold and raise the smooth gray kitchenpot together", + "Raise the metal kitchenpot together using arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Lift the medium-sized kitchenpot steadily with support", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Hold the round kitchenpot with handles firmly with arms", + "Lift the dark gray stove kitchenpot upward and hold it" + ], + "unseen": [ + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode48.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..d72983711f77a1e7cf6c86a50464c800c781e6e3 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the cooking kitchenpot with side grips and lift upward", + "Raise the round kitchenpot with handles together using arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Raise the round kitchenpot with handles securely with arms", + "Hold the metal kitchenpot with both arms", + "Securely lift the kitchenpot for boiling and cooking together", + "Hold and raise the medium-sized kitchenpot together", + "Grab the gray kitchenpot using both arms", + "Secure the smooth gray kitchenpot and lift it up", + "Raise the metal kitchenpot upward with both hands", + "Place hands on the gray kitchenpot, then lift.", + "Hold the round kitchenpot with handles firmly with arms", + "Grip the medium-sized kitchenpot firmly and lift", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Lift the medium-sized kitchenpot steadily using arms", + "Lift the metal kitchenpot using both arms now.", + "Raise the medium-sized kitchenpot together with arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Pick up the medium-sized kitchenpot with both arms", + "Lift the medium kitchenpot made of metal up using your arms", + "Lift the cylindrical kitchenpot upwards with care", + "Raise the dark gray stove kitchenpot using both arms", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Use arms to lift the medium kitchenpot made of metal upward", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Bring the smooth gray kitchenpot upwards together", + "Grab the metal kitchenpot and lift it up", + "Lift the smooth gray kitchenpot up together", + "Lift the gray kitchenpot upward with both arms", + "Take hold of the cylindrical kitchenpot and lift up", + "Bring the round kitchenpot with handles up together", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Both arms lift the gray kitchenpot upright", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the smooth gray kitchenpot carefully using both arms.", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Pick up the round kitchenpot with handles with careful lifting", + "Use both arms to raise the metal kitchenpot", + "Grab the metal kitchenpot and lift it upwards", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Raise the gray kitchenpot with strong support", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Lift the cylindrical kitchenpot carefully using arms", + "Raise and hold the medium-sized kitchenpot together", + "Grab the medium-sized kitchenpot and lift together", + "Hold the medium kitchenpot made of metal and lift upward", + "Raise the dark gray stove kitchenpot together using arms", + "Lift the gray kitchenpot steadily with support", + "Raise the round kitchenpot with handles securely with arms", + "Hold the gray kitchenpot with both arms", + "Securely lift the dark gray stove kitchenpot together", + "Hold and raise the medium-sized kitchenpot together", + "Grab the metal kitchenpot using both arms", + "Secure the smooth gray kitchenpot and lift it up", + "Raise the dark gray stove kitchenpot upward with both hands", + "Place hands on the metal kitchenpot, then lift.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Grip the gray kitchenpot firmly and lift", + "Hold the round kitchenpot with handles firmly and lift it", + "Lift the smooth gray kitchenpot steadily using arms", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Raise the kitchenpot with smooth exterior together with arms", + "Hold and raise the smooth gray kitchenpot together", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the round kitchenpot with handles up using your arms", + "Lift the dark gray stove kitchenpot upwards with care", + "Raise the cylindrical kitchenpot using both arms", + "Lift the gray kitchenpot upward and hold it", + "Use arms to lift the round kitchenpot with handles upward", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Raise the medium kitchenpot made of metal steadily using arms", + "Bring the cylindrical kitchenpot upwards together", + "Grab the gray kitchenpot and lift it up", + "Lift the cooking kitchenpot with side grips up together", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Bring the kitchenpot for boiling and cooking up together", + "Support the cooking kitchenpot with side grips and raise it upward", + "Both arms lift the kitchenpot with smooth exterior upright", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Secure the cylindrical kitchenpot and lift upward.", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "With arms, raise the metal kitchenpot upward slowly.", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Use both arms to raise the gray kitchenpot", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Use both arms to raise the cylindrical kitchenpot.", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Hold the metal kitchenpot firmly and move upward.", + "Hold the round kitchenpot with handles firmly, then lift.", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Lift the medium kitchenpot made of metal carefully using arms", + "Raise and hold the gray kitchenpot together", + "Grab the medium kitchenpot made of metal and lift together" + ], + "unseen": [ + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode49.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..acaca72768208b630798d1b4864bef38e7151a27 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the cooking kitchenpot with side grips together with arms", + "Hold the metal kitchenpot and lift upward", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Raise the metal kitchenpot evenly with arms", + "Grab the metal kitchenpot and lift it up", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the medium-sized kitchenpot up using your arms", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Lift the cooking kitchenpot with side grips upwards with care", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Grab the smooth gray kitchenpot using both arms", + "Support the cooking kitchenpot with side grips and raise it upward", + "Carry the kitchenpot with smooth exterior securely using arms", + "Bring the gray kitchenpot up together", + "Raise the cylindrical kitchenpot using both arms", + "Raise the cylindrical kitchenpot with strong support", + "Grip the medium-sized kitchenpot firmly and lift", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Take hold of the smooth gray kitchenpot and lift up", + "Grab the medium-sized kitchenpot and lift together", + "Place hands on the cylindrical kitchenpot, then lift.", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Hold the smooth gray kitchenpot with both arms", + "Securely lift the round kitchenpot with handles together", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Raise the metal kitchenpot steadily using arms", + "Hold and raise the medium-sized kitchenpot together", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Bring the gray kitchenpot upwards together", + "Lift the smooth gray kitchenpot using both arms now.", + "Lift the metal kitchenpot carefully using both arms.", + "Raise and hold the metal kitchenpot together", + "Secure the smooth gray kitchenpot and lift it up", + "Hold the metal kitchenpot firmly, then lift.", + "Lift the dark gray stove kitchenpot up together", + "Both arms lift the gray kitchenpot upright", + "Lift the dark gray stove kitchenpot upward and hold it", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Grasp the smooth gray kitchenpot and elevate together.", + "Pick up the smooth gray kitchenpot with careful lifting", + "Use both arms to raise the cooking kitchenpot with side grips", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Hold and raise the dark gray stove kitchenpot together", + "Raise the round kitchenpot with handles together using arms", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Hold the cylindrical kitchenpot and lift upward", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Raise the cylindrical kitchenpot evenly with arms", + "Grab the cooking kitchenpot with side grips and lift it up", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Lift the round kitchenpot with handles up using your arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Grab the dark gray stove kitchenpot using both arms", + "Support the cooking kitchenpot with side grips and raise it upward", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Bring the medium-sized kitchenpot up together", + "Raise the metal kitchenpot using both arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Grip the medium kitchenpot made of metal firmly and lift", + "Lift the metal kitchenpot upward with both arms", + "Take hold of the cylindrical kitchenpot and lift up", + "Grab the cylindrical kitchenpot and lift together", + "Place hands on the round kitchenpot with handles, then lift.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Securely lift the smooth gray kitchenpot together", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the gray kitchenpot carefully using arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Lift the round kitchenpot with handles carefully using both arms.", + "Raise and hold the kitchenpot for boiling and cooking together", + "Secure the gray kitchenpot and lift it up", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Lift the round kitchenpot with handles up together", + "Both arms lift the medium-sized kitchenpot upright", + "Lift the metal kitchenpot upward and hold it", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Grasp the metal kitchenpot and elevate together.", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Use both arms to raise the round kitchenpot with handles", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the kitchenpot for boiling and cooking together using arms", + "Raise the round kitchenpot with handles securely with arms" + ], + "unseen": [ + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode5.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..3b5ce65b6750a8c7ac1f23e626934b5f8c5a636e --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Support the cooking kitchenpot with side grips and raise it upward", + "Grab the gray kitchenpot using both arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "Grab the medium kitchenpot made of metal and lift it up", + "Carry the metal kitchenpot securely using arms", + "Lift the kitchenpot with smooth exterior upwards with care", + "Grip the round kitchenpot with handles firmly and lift", + "Hold and raise the metal kitchenpot together", + "Pick up the kitchenpot with smooth exterior with both arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Bring the cylindrical kitchenpot up together", + "Lift the metal kitchenpot steadily using arms", + "Grasp the round kitchenpot with handles and elevate together.", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Raise the cylindrical kitchenpot steadily using arms", + "Both arms lift the dark gray stove kitchenpot upright", + "Hold the cooking kitchenpot with side grips with both arms", + "Raise and hold the kitchenpot for boiling and cooking together", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Raise the kitchenpot with smooth exterior together with arms", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Secure the dark gray stove kitchenpot and lift upward.", + "Hold the metal kitchenpot firmly, then lift.", + "Securely lift the round kitchenpot with handles together", + "Secure the metal kitchenpot and lift it up", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Pick up the metal kitchenpot with careful lifting", + "Lift the dark gray stove kitchenpot carefully using arms", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise the smooth gray kitchenpot using both arms", + "Grab the round kitchenpot with handles and lift it upwards", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Raise the round kitchenpot with handles upward with both hands", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Lift the kitchenpot for boiling and cooking up together", + "Lift the smooth gray kitchenpot up using your arms", + "Take hold of the round kitchenpot with handles and lift up", + "Bring the kitchenpot with smooth exterior upwards together", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Lift the kitchenpot with smooth exterior steadily with support", + "Hold the medium kitchenpot made of metal firmly with arms", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Raise the cylindrical kitchenpot together using arms", + "Raise the medium-sized kitchenpot securely with arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Grab the kitchenpot for boiling and cooking using both arms", + "Use both arms to raise the metal kitchenpot", + "Grab the medium kitchenpot made of metal and lift it up", + "Carry the medium-sized kitchenpot securely using arms", + "Lift the dark gray stove kitchenpot upwards with care", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Hold and raise the medium kitchenpot made of metal together", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Bring the medium kitchenpot made of metal up together", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise the cooking kitchenpot with side grips with strong support", + "Raise the medium-sized kitchenpot steadily using arms", + "Both arms lift the metal kitchenpot upright", + "Hold the round kitchenpot with handles with both arms", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Hold the round kitchenpot with handles and lift upward", + "Grab the medium kitchenpot made of metal and lift together", + "Raise the kitchenpot for boiling and cooking together with arms", + "Lift the smooth gray kitchenpot using both arms now.", + "Secure the medium-sized kitchenpot and lift upward.", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Securely lift the round kitchenpot with handles together", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Use both arms to raise the gray kitchenpot.", + "Pick up the round kitchenpot with handles with careful lifting", + "Lift the round kitchenpot with handles carefully using arms", + "Hold the round kitchenpot with handles firmly and lift it", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Hold and raise the gray kitchenpot together", + "Raise the kitchenpot for boiling and cooking using both arms", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Raise the round kitchenpot with handles upward with both hands", + "Lift the medium kitchenpot made of metal upward and hold it", + "Lift the metal kitchenpot up together", + "Lift the gray kitchenpot up using your arms", + "Take hold of the smooth gray kitchenpot and lift up", + "Bring the kitchenpot for boiling and cooking upwards together", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Lift the metal kitchenpot steadily with support", + "Hold the round kitchenpot with handles firmly with arms", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Raise the medium kitchenpot made of metal together using arms", + "Raise the medium-sized kitchenpot securely with arms" + ], + "unseen": [ + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode6.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..ef81a223ede5d4d20c49c953bcd5fcbbcd9c995a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Hold the round kitchenpot with handles firmly with arms", + "Raise and hold the round kitchenpot with handles together", + "Lift the kitchenpot with smooth exterior steadily with support", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Hold and raise the metal kitchenpot together", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Use arms to lift the gray kitchenpot upward", + "Support the medium kitchenpot made of metal and raise it upward", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Lift the cooking kitchenpot with side grips upwards with care", + "Pick up the medium kitchenpot made of metal with both arms", + "Raise the kitchenpot with smooth exterior together with arms", + "Securely lift the gray cylindrical metal kitchenpot together", + "Raise the gray kitchenpot together using arms", + "Both arms lift the dark gray stove kitchenpot upright", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Raise the cylindrical kitchenpot with strong support", + "Lift the round kitchenpot with handles carefully using both arms.", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Grab the smooth gray kitchenpot and lift it up", + "Raise the cylindrical kitchenpot using both arms", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the cylindrical kitchenpot steadily using arms", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Hold the dark gray stove kitchenpot and lift upward", + "Lift the gray kitchenpot carefully using arms", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Raise the dark gray stove kitchenpot steadily using arms", + "Grab the kitchenpot with smooth exterior and lift together", + "Lift the medium kitchenpot made of metal up together", + "Use both arms to raise the smooth gray kitchenpot", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Raise the gray kitchenpot securely with arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Use both arms to raise the dark gray stove kitchenpot.", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Lift the medium-sized kitchenpot up using your arms", + "Hold the kitchenpot for boiling and cooking with both arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Carry the kitchenpot with smooth exterior securely using arms", + "Raise the round kitchenpot with handles evenly with arms", + "Place hands on the gray kitchenpot, then lift.", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Pick up the medium-sized kitchenpot with careful lifting", + "Hold the round kitchenpot with handles firmly with arms", + "Raise and hold the cooking kitchenpot with side grips together", + "Lift the round kitchenpot with handles steadily with support", + "Grasp the medium-sized kitchenpot and elevate together.", + "Hold and raise the kitchenpot with smooth exterior together", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the dark gray stove kitchenpot using both arms now.", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Lift the gray kitchenpot upward and hold it", + "Lift the kitchenpot with smooth exterior upwards with care", + "Pick up the medium-sized kitchenpot with both arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Securely lift the cooking kitchenpot with side grips together", + "Raise the dark gray stove kitchenpot together using arms", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Secure the gray kitchenpot and lift upward.", + "Raise the round kitchenpot with handles with strong support", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Hold the metal kitchenpot firmly, then lift.", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Hold the metal kitchenpot firmly and lift it", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Raise the round kitchenpot with handles using both arms", + "Grab the cylindrical kitchenpot and lift it upwards", + "Hold and raise the dark gray stove kitchenpot together", + "Lift the cylindrical kitchenpot steadily using arms", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Lift the smooth gray kitchenpot carefully using arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Raise the medium-sized kitchenpot steadily using arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Lift the round kitchenpot with handles up together", + "Use both arms to raise the metal kitchenpot", + "Take hold of the cylindrical kitchenpot and lift up", + "Raise the gray kitchenpot securely with arms", + "Bring the kitchenpot with smooth exterior up together", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Lift the cylindrical kitchenpot up using your arms", + "Hold the round kitchenpot with handles with both arms", + "Bring the medium kitchenpot made of metal upwards together", + "Carry the kitchenpot with smooth exterior securely using arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Place hands on the smooth gray kitchenpot, then lift.", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Grab the kitchenpot for boiling and cooking using both arms" + ], + "unseen": [ + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode7.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..9537e513b710ab231003bdcf4b286d98b8a50397 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the cylindrical kitchenpot and lift upward.", + "Pick up the gray kitchenpot with both arms", + "Raise the cylindrical kitchenpot securely with arms", + "Both arms lift the cooking kitchenpot with side grips upright", + "Bring the smooth gray kitchenpot upwards together", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Raise and hold the kitchenpot with smooth exterior together", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Grip the gray kitchenpot firmly and lift", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Lift the smooth gray kitchenpot using both arms now.", + "Pick up the gray kitchenpot with careful lifting", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Lift the metal kitchenpot up together", + "Hold the medium kitchenpot made of metal with both arms", + "Raise the round kitchenpot with handles upward with both hands", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Grab the metal kitchenpot using both arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the dark gray stove kitchenpot upward and hold it", + "Support the medium kitchenpot made of metal and raise it upward", + "Raise the metal kitchenpot together with arms", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the gray kitchenpot using both arms", + "Hold the medium kitchenpot made of metal and lift upward", + "Use both arms to raise the cylindrical kitchenpot", + "Lift the metal kitchenpot steadily using arms", + "Use both arms to raise the medium-sized kitchenpot.", + "Bring the medium-sized kitchenpot up together", + "Hold the medium-sized kitchenpot firmly and lift it", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Raise the gray kitchenpot with strong support", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Take hold of the round kitchenpot with handles and lift up", + "Raise the medium kitchenpot made of metal together using arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Grasp the metal kitchenpot and elevate together.", + "Hold the dark gray stove kitchenpot firmly with arms", + "Use arms to lift the dark gray stove kitchenpot upward", + "Lift the kitchenpot with smooth exterior upwards with care", + "Grab the gray kitchenpot and lift together", + "Carry the gray kitchenpot securely using arms", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Grab the round kitchenpot with handles and lift it up", + "Securely lift the round kitchenpot with handles together", + "Hold and raise the medium kitchenpot made of metal together", + "Secure the smooth gray kitchenpot and lift upward.", + "Pick up the cooking kitchenpot with side grips with both arms", + "Raise the medium-sized kitchenpot securely with arms", + "Both arms lift the gray kitchenpot upright", + "Bring the medium-sized kitchenpot upwards together", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Raise and hold the cooking kitchenpot with side grips together", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Lift the metal kitchenpot using both arms now.", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Place hands on the medium-sized kitchenpot, then lift.", + "Lift the smooth gray kitchenpot up together", + "Hold the dark gray stove kitchenpot with both arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Grab the medium kitchenpot made of metal using both arms", + "Lift the smooth gray kitchenpot upward with both arms", + "Secure the dark gray stove kitchenpot and lift it up", + "Lift the smooth gray kitchenpot upward and hold it", + "Support the medium-sized kitchenpot and raise it upward", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the dark gray stove kitchenpot using both arms", + "Hold the metal kitchenpot and lift upward", + "Use both arms to raise the dark gray stove kitchenpot", + "Lift the gray kitchenpot steadily using arms", + "Use both arms to raise the round kitchenpot with handles.", + "Bring the medium-sized kitchenpot up together", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Raise the round kitchenpot with handles evenly with arms", + "Raise the kitchenpot for boiling and cooking with strong support", + "Lift the dark gray stove kitchenpot steadily with support", + "Take hold of the medium-sized kitchenpot and lift up", + "Raise the round kitchenpot with handles together using arms", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Hold the dark gray stove kitchenpot firmly with arms", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Lift the metal kitchenpot upwards with care", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Carry the round kitchenpot with handles securely using arms", + "Grab the medium-sized kitchenpot and lift it upwards", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Grab the medium-sized kitchenpot and lift it up", + "Securely lift the gray kitchenpot together", + "Hold and raise the gray cylindrical metal kitchenpot together" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode8.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..c9760802b54faf752af1ed6ef91c0f9acb0bb636 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the round kitchenpot with handles and elevate together.", + "Lift the smooth gray kitchenpot carefully using arms", + "Bring the smooth gray kitchenpot upwards together", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Hold the medium-sized kitchenpot firmly with arms", + "Raise the kitchenpot with smooth exterior securely with arms", + "Raise the kitchenpot with smooth exterior together with arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Both arms lift the cylindrical kitchenpot upright", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Raise the cooking kitchenpot with side grips together using arms", + "Lift the medium-sized kitchenpot up together", + "Raise the medium kitchenpot made of metal steadily using arms", + "Grab the medium-sized kitchenpot and lift it up", + "Pick up the cooking kitchenpot with side grips with both arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Securely lift the smooth gray kitchenpot together", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Hold and raise the cooking kitchenpot with side grips together", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Raise the cylindrical kitchenpot evenly with arms", + "Grab the smooth gray kitchenpot and lift it upwards", + "Engage arms to grip and lift the metal kitchenpot.", + "Lift the dark gray stove kitchenpot steadily using arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Bring the cooking kitchenpot with side grips up together", + "Use both arms to raise the metal kitchenpot.", + "Raise and hold the medium-sized kitchenpot together", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Raise the kitchenpot with smooth exterior using both arms", + "With arms, raise the gray kitchenpot upward slowly.", + "Hold the dark gray stove kitchenpot with both arms", + "Take hold of the round kitchenpot with handles and lift up", + "Grab the medium kitchenpot made of metal and lift together", + "Place hands on the metal kitchenpot, then lift.", + "Hold and raise the gray kitchenpot together", + "Support the round kitchenpot with handles and raise it upward", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Lift the gray kitchenpot upward and hold it", + "Raise the kitchenpot for boiling and cooking with strong support", + "Hold the dark gray stove kitchenpot and lift upward", + "Use both arms to raise the cooking kitchenpot with side grips", + "Hold the round kitchenpot with handles firmly and move upward.", + "Secure the dark gray stove kitchenpot and lift it up", + "Lift the cylindrical kitchenpot steadily with support", + "Carry the cylindrical kitchenpot securely using arms", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Lift the cylindrical kitchenpot carefully using arms", + "Bring the round kitchenpot with handles upwards together", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Hold the dark gray stove kitchenpot firmly with arms", + "Raise the smooth gray kitchenpot securely with arms", + "Raise the medium-sized kitchenpot together with arms", + "Grip the gray kitchenpot firmly and lift", + "Both arms lift the smooth gray kitchenpot upright", + "Grab the dark gray stove kitchenpot using both arms", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Lift the gray cylindrical metal kitchenpot up together", + "Raise the metal kitchenpot steadily using arms", + "Grab the medium kitchenpot made of metal and lift it up", + "Pick up the smooth gray kitchenpot with both arms", + "Lift the round kitchenpot with handles upward with both arms", + "Securely lift the metal kitchenpot together", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Hold and raise the medium kitchenpot made of metal together", + "Secure the gray kitchenpot and lift upward.", + "Raise the metal kitchenpot evenly with arms", + "Grab the round kitchenpot with handles and lift it upwards", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Bring the medium kitchenpot made of metal up together", + "Use both arms to raise the metal kitchenpot.", + "Raise and hold the cylindrical kitchenpot together", + "Hold the gray kitchenpot firmly, then lift.", + "Raise the cylindrical kitchenpot using both arms", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Hold the medium kitchenpot made of metal with both arms", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Grab the medium-sized kitchenpot and lift together", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Hold and raise the smooth gray kitchenpot together", + "Support the metal kitchenpot and raise it upward", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Hold the medium-sized kitchenpot firmly and lift it", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Lift the dark gray stove kitchenpot upward and hold it", + "Raise the dark gray stove kitchenpot with strong support", + "Hold the cylindrical kitchenpot and lift upward", + "Use both arms to raise the cylindrical kitchenpot", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Secure the kitchenpot with smooth exterior and lift it up", + "Lift the cylindrical kitchenpot steadily with support", + "Carry the round kitchenpot with handles securely using arms" + ], + "unseen": [ + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode9.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..89e91d6912e17222b5f7a6c052e35a5db5ee4c51 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the cylindrical kitchenpot and lift it up", + "Both arms lift the metal kitchenpot upright", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the cooking kitchenpot with side grips with strong support", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Grab the gray kitchenpot and lift together", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Engage arms to grip and lift the gray kitchenpot.", + "Raise the gray kitchenpot evenly with arms", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Raise the dark gray stove kitchenpot together with arms", + "Use both arms to raise the metal kitchenpot.", + "Pick up the kitchenpot with smooth exterior with both arms", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Use arms to lift the dark gray stove kitchenpot upward", + "Secure the cylindrical kitchenpot and lift upward.", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Bring the round kitchenpot with handles up together", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Lift the gray kitchenpot using both arms now.", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Place hands on the cylindrical kitchenpot, then lift.", + "Take hold of the gray kitchenpot and lift up", + "Grab the smooth gray kitchenpot using both arms", + "Raise the dark gray stove kitchenpot upward with both hands", + "Lift the kitchenpot with smooth exterior up together", + "Raise the round kitchenpot with handles using both arms", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Hold the metal kitchenpot with both arms", + "Carry the medium kitchenpot made of metal securely using arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Lift the metal kitchenpot up using your arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Grab the dark gray stove kitchenpot and lift it up", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Grasp the gray kitchenpot and elevate together.", + "Lift the round kitchenpot with handles upward and hold it", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Hold the smooth gray kitchenpot firmly with arms", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Raise the kitchenpot with smooth exterior securely with arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Securely lift the dark gray stove kitchenpot together", + "Lift the medium kitchenpot made of metal upwards with care", + "Secure the medium kitchenpot made of metal and lift it up", + "Both arms lift the metal kitchenpot upright", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Hold and raise the gray kitchenpot together", + "Raise the metal kitchenpot with strong support", + "Lift the metal kitchenpot upward with both arms", + "Grab the kitchenpot with smooth exterior and lift together", + "Support the medium-sized kitchenpot and raise it upward", + "Hold and raise the smooth gray kitchenpot together", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Raise the dark gray stove kitchenpot evenly with arms", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Use both arms to raise the medium-sized kitchenpot", + "Raise the kitchenpot with smooth exterior together with arms", + "Use both arms to raise the metal kitchenpot.", + "Pick up the smooth gray kitchenpot with both arms", + "Raise the metal kitchenpot together using arms", + "Use arms to lift the gray kitchenpot upward", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Bring the cooking kitchenpot with side grips up together", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Lift the gray kitchenpot using both arms now.", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Hold the round kitchenpot with handles and lift upward", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Grab the cooking kitchenpot with side grips using both arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Lift the round kitchenpot with handles up together", + "Raise the dark gray stove kitchenpot using both arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Hold the smooth gray kitchenpot with both arms", + "Carry the cylindrical kitchenpot securely using arms", + "Bring the round kitchenpot with handles upwards together", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Grab the smooth gray kitchenpot and lift it up", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Grip the smooth gray kitchenpot firmly and lift", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Lift the metal kitchenpot upward and hold it", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Raise the smooth gray kitchenpot securely with arms", + "Lift the cylindrical kitchenpot steadily with support", + "Securely lift the smooth gray kitchenpot together", + "Lift the kitchenpot for boiling and cooking upwards with care" + ], + "unseen": [ + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/franka-panda/meta/scene_info.json b/robotwin_multiembodiments/lift_pot/franka-panda/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..7226bcdb97754eb17dcbeec680ac552c7d2be64a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/franka-panda/meta/scene_info.json @@ -0,0 +1,502 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + 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0000000000000000000000000000000000000000..3c96afe156f4abf7490c0426fff1f8ec03522ace --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/data/episode7.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72369f36a4ef1735848c530049e3f8a98010e5035e8bfa0a93b0ebca4b4506ec +size 4949432 diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/data/episode8.hdf5 b/robotwin_multiembodiments/lift_pot/ur5-wsg/data/episode8.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..3d5f55a9d9c5dafb1c25ea4bd5c43c0175f7d0dc --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/data/episode8.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:091a3739348e3002e3f6bcba6c22d5bf53dcf68ae287acae5900b82dd82cd4d1 +size 4927261 diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/data/episode9.hdf5 b/robotwin_multiembodiments/lift_pot/ur5-wsg/data/episode9.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..9afe01ff64c3b73f2ac0356f111b3a938133a163 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/data/episode9.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f48e9825c9dcbee011d79149b705d3060f89bf9fe5fc4385a2bd318c7c3ad103 +size 5417321 diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/config.yml b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..89ae1e704e528525b290bb3dce2c54c6fd416782 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/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/lift_pot/ur5-wsg/meta/info.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..84006c4e3226915cb8841f18fbb268c78c752409 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/info.json @@ -0,0 +1,62 @@ +{ + "task": "lift_pot", + "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/lift_pot/ur5-wsg/meta/instructions/episode0.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..873f5abbc5d40db88e0f725af228ef62c571905e --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the kitchenpot with smooth exterior upward with both arms", + "Lift the round kitchenpot with handles upwards with care", + "Raise the medium-sized kitchenpot steadily using arms", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Raise the dark gray stove kitchenpot together with arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Hold the metal kitchenpot firmly with arms", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Secure the kitchenpot with smooth exterior and lift it up", + "Lift the medium-sized kitchenpot up using your arms", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Hold and raise the cooking kitchenpot with side grips together", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Carry the kitchenpot with smooth exterior securely using arms", + "Bring the cooking kitchenpot with side grips up together", + "Hold the kitchenpot with smooth exterior with both arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Lift the cylindrical kitchenpot up together", + "Raise the kitchenpot with smooth exterior securely with arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Bring the medium kitchenpot made of metal upwards together", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Raise the gray kitchenpot with strong support", + "Lift the round kitchenpot with handles carefully using arms", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Support the gray kitchenpot and raise it upward", + "Lift the medium-sized kitchenpot steadily with support", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Grab the cooking kitchenpot with side grips using both arms", + "Use both arms to raise the medium-sized kitchenpot", + "Both arms lift the dark gray stove kitchenpot upright", + "Grab the gray kitchenpot and lift it up", + "Place hands on the round kitchenpot with handles, then lift.", + "Raise and hold the smooth gray kitchenpot together", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Securely lift the kitchenpot with smooth exterior together", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Raise the round kitchenpot with handles evenly with arms", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Hold and raise the kitchenpot for boiling and cooking together", + "Grab the cooking kitchenpot with side grips and lift together", + "Raise the cooking kitchenpot with side grips using both arms", + "Use arms to lift the cylindrical kitchenpot upward", + "Raise the medium kitchenpot made of metal upward with both hands", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Lift the cooking kitchenpot with side grips upwards with care", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Raise the cooking kitchenpot with side grips together with arms", + "Lift the metal kitchenpot using both arms now.", + "Hold the smooth gray kitchenpot firmly with arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the medium-sized kitchenpot up using your arms", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Hold the round kitchenpot with handles and lift upward", + "Carry the round kitchenpot with handles securely using arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Hold the cooking kitchenpot with side grips with both arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Lift the dark gray stove kitchenpot up together", + "Raise the cooking kitchenpot with side grips securely with arms", + "Secure the dark gray stove kitchenpot and lift upward.", + "Bring the medium kitchenpot made of metal upwards together", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Raise the cylindrical kitchenpot with strong support", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Lift the metal kitchenpot steadily using arms", + "Support the round kitchenpot with handles and raise it upward", + "Lift the metal kitchenpot steadily with support", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Grab the cylindrical kitchenpot using both arms", + "Use both arms to raise the dark gray stove kitchenpot", + "Both arms lift the cylindrical kitchenpot upright", + "Grab the smooth gray kitchenpot and lift it up", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Raise and hold the kitchenpot for boiling and cooking together", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Securely lift the dark gray stove kitchenpot together", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Raise the dark gray stove kitchenpot evenly with arms", + "Pick up the gray kitchenpot with both arms", + "Lift the metal kitchenpot upward and hold it", + "Hold and raise the gray kitchenpot together", + "Grab the cooking kitchenpot with side grips and lift together", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Use arms to lift the medium kitchenpot made of metal upward", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Take hold of the smooth gray kitchenpot and lift up", + "Raise the gray kitchenpot together using arms" + ], + "unseen": [ + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode1.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..ec5b0bb2851dc721d2b57f18485bf94462f7ab70 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Both arms lift the medium-sized kitchenpot upright", + "Raise the cylindrical kitchenpot using both arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Raise the dark gray stove kitchenpot steadily using arms", + "Raise the dark gray stove kitchenpot securely with arms", + "Support the smooth gray kitchenpot and raise it upward", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Grab the cylindrical kitchenpot using both arms", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Pick up the cylindrical kitchenpot with careful lifting", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Hold the round kitchenpot with handles firmly and lift it", + "Hold the metal kitchenpot and lift upward", + "Lift the metal kitchenpot carefully using arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Bring the smooth gray kitchenpot upwards together", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Securely lift the kitchenpot with smooth exterior together", + "Hold the round kitchenpot with handles firmly with arms", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Raise the gray kitchenpot with strong support", + "Use arms to lift the round kitchenpot with handles upward", + "Lift the cooking kitchenpot with side grips up together", + "Grip the metal kitchenpot firmly and lift", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Bring the medium-sized kitchenpot up together", + "Lift the round kitchenpot with handles up using your arms", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Hold and raise the medium-sized kitchenpot together", + "Raise and hold the metal kitchenpot together", + "Carry the round kitchenpot with handles securely using arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the round kitchenpot with handles steadily using arms", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Grasp the gray kitchenpot and elevate together.", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Pick up the medium-sized kitchenpot with both arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Grab the gray kitchenpot and lift it up", + "Hold and raise the cylindrical kitchenpot together", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Hold the cooking kitchenpot with side grips with both arms", + "Hold the gray kitchenpot firmly and move upward.", + "Grab the dark gray stove kitchenpot and lift together", + "Raise the round kitchenpot with handles evenly with arms", + "Both arms lift the metal kitchenpot upright", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Raise the metal kitchenpot upward with both hands", + "Raise the dark gray stove kitchenpot steadily using arms", + "Raise the metal kitchenpot securely with arms", + "Support the cooking kitchenpot with side grips and raise it upward", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Lift the metal kitchenpot upwards with care", + "Grab the dark gray stove kitchenpot using both arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Pick up the medium-sized kitchenpot with careful lifting", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Secure the medium-sized kitchenpot and lift upward.", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Take hold of the metal kitchenpot and lift up", + "Raise the cooking kitchenpot with side grips together using arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Securely lift the metal kitchenpot together", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Raise the medium kitchenpot made of metal with strong support", + "Use arms to lift the cylindrical kitchenpot upward", + "Lift the gray cylindrical metal kitchenpot up together", + "Grip the round kitchenpot with handles firmly and lift", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Bring the kitchenpot for boiling and cooking up together", + "Lift the round kitchenpot with handles up using your arms", + "Hold the gray kitchenpot firmly, then lift.", + "Hold and raise the metal kitchenpot together", + "Raise and hold the round kitchenpot with handles together", + "Carry the metal kitchenpot securely using arms", + "Secure the cooking kitchenpot with side grips and lift it up", + "Lift the medium kitchenpot made of metal steadily using arms", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Lift the gray kitchenpot using both arms now.", + "Use both arms to raise the cooking kitchenpot with side grips", + "Pick up the dark gray stove kitchenpot with both arms", + "Raise the medium kitchenpot made of metal together with arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Grab the cylindrical kitchenpot and lift it up", + "Hold and raise the medium-sized kitchenpot together", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Hold the medium-sized kitchenpot with both arms", + "Hold the metal kitchenpot firmly and move upward.", + "Grab the kitchenpot with smooth exterior and lift together", + "Raise the cylindrical kitchenpot evenly with arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode10.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..abc9d11476cb45c49d71d83a44d2c04e25acf0fb --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the kitchenpot with smooth exterior using both arms", + "Lift the round kitchenpot with handles upwards with care", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the medium kitchenpot made of metal steadily using arms", + "Secure the dark gray stove kitchenpot and lift it up", + "Lift the medium-sized kitchenpot up together", + "Both arms lift the smooth gray kitchenpot upright", + "Lift the dark gray stove kitchenpot using both arms now.", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Bring the metal kitchenpot upwards together", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Raise the kitchenpot with smooth exterior securely with arms", + "Lift the metal kitchenpot steadily using arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Hold the smooth gray kitchenpot firmly with arms", + "Securely lift the metal kitchenpot together", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Hold and raise the dark gray stove kitchenpot together", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Take hold of the medium kitchenpot made of metal and lift up", + "Grip the metal kitchenpot firmly and lift", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Grab the dark gray stove kitchenpot and lift together", + "Raise the dark gray stove kitchenpot upward with both hands", + "Lift the medium kitchenpot made of metal upward and hold it", + "Use both arms to raise the round kitchenpot with handles.", + "Pick up the round kitchenpot with handles with careful lifting", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Lift the gray kitchenpot up using your arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Support the medium-sized kitchenpot and raise it upward", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Hold the medium-sized kitchenpot with both arms", + "Use arms to lift the gray kitchenpot upward", + "Raise the kitchenpot for boiling and cooking with strong support", + "Hold the metal kitchenpot and lift upward", + "Secure the metal kitchenpot and lift upward.", + "Lift the gray kitchenpot upward with both arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Raise and hold the cooking kitchenpot with side grips together", + "Bring the gray kitchenpot up together", + "Raise the medium-sized kitchenpot together using arms", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Raise the gray kitchenpot evenly with arms", + "Pick up the medium kitchenpot made of metal with both arms", + "Raise the metal kitchenpot using both arms", + "Lift the cylindrical kitchenpot upwards with care", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the medium kitchenpot made of metal up together", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Lift the round kitchenpot with handles using both arms now.", + "Place hands on the gray kitchenpot, then lift.", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Bring the cooking kitchenpot with side grips upwards together", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Grasp the round kitchenpot with handles and elevate together.", + "Raise the gray kitchenpot securely with arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Hold the metal kitchenpot firmly, then lift.", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Securely lift the kitchenpot with smooth exterior together", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Use both arms to raise the metal kitchenpot", + "Hold and raise the medium-sized kitchenpot together", + "Grab the metal kitchenpot and lift it upwards", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Grip the metal kitchenpot firmly and lift", + "Raise the medium kitchenpot made of metal together with arms", + "Grab the dark gray stove kitchenpot and lift together", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Lift the gray kitchenpot upward and hold it", + "Use both arms to raise the cylindrical kitchenpot.", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Lift the medium-sized kitchenpot up using your arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Support the kitchenpot with smooth exterior and raise it upward", + "Lift the round kitchenpot with handles carefully using both arms.", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Hold the smooth gray kitchenpot with both arms", + "Use arms to lift the dark gray stove kitchenpot upward", + "Raise the kitchenpot with smooth exterior with strong support", + "Hold the kitchenpot with smooth exterior and lift upward", + "Secure the round kitchenpot with handles and lift upward.", + "Lift the round kitchenpot with handles upward with both arms", + "Grab the smooth gray kitchenpot and lift it up", + "Raise and hold the cylindrical kitchenpot together", + "Bring the cooking kitchenpot with side grips up together", + "Raise the round kitchenpot with handles together using arms", + "Carry the cylindrical kitchenpot securely using arms", + "Raise the dark gray stove kitchenpot evenly with arms", + "Pick up the cylindrical kitchenpot with both arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode11.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..643db94c40038fd466756258a8a091b2c5352959 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Raise the medium kitchenpot made of metal together using arms", + "Bring the kitchenpot with smooth exterior upwards together", + "Raise the metal kitchenpot with strong support", + "Hold the kitchenpot for boiling and cooking with both arms", + "Bring the kitchenpot for boiling and cooking up together", + "Raise the round kitchenpot with handles together with arms", + "With arms, raise the gray kitchenpot upward slowly.", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Use arms to lift the medium-sized kitchenpot upward", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Grab the kitchenpot for boiling and cooking and lift together", + "Grab the gray kitchenpot using both arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Raise the smooth gray kitchenpot using both arms", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Place hands on the metal kitchenpot, then lift.", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Engage arms to grip and lift the metal kitchenpot.", + "Hold the round kitchenpot with handles firmly, then lift.", + "Hold the medium kitchenpot made of metal firmly with arms", + "Lift the round kitchenpot with handles up together", + "Lift the metal kitchenpot upward with both arms", + "Secure the medium-sized kitchenpot and lift upward.", + "Raise the cylindrical kitchenpot securely with arms", + "Hold and raise the cylindrical kitchenpot together", + "Raise and hold the gray kitchenpot together", + "Grasp the gray kitchenpot and elevate together.", + "Grab the cooking kitchenpot with side grips and lift it up", + "Raise the metal kitchenpot steadily using arms", + "Pick up the dark gray stove kitchenpot with both arms", + "Both arms lift the round kitchenpot with handles upright", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Raise the cylindrical kitchenpot evenly with arms", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Lift the cylindrical kitchenpot carefully using arms", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Use both arms to raise the round kitchenpot with handles", + "Secure the cylindrical kitchenpot and lift it up", + "Securely lift the kitchenpot with smooth exterior together", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the gray kitchenpot up using your arms", + "Raise the metal kitchenpot upward with both hands", + "Hold and raise the gray kitchenpot together", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Raise the kitchenpot for boiling and cooking together using arms", + "Bring the medium kitchenpot made of metal upwards together", + "Raise the gray kitchenpot with strong support", + "Hold the round kitchenpot with handles with both arms", + "Bring the cooking kitchenpot with side grips up together", + "Raise the gray kitchenpot together with arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Lift the cooking kitchenpot with side grips upwards with care", + "Grab the medium-sized kitchenpot and lift it upwards", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Pick up the metal kitchenpot with careful lifting", + "Lift the dark gray stove kitchenpot steadily using arms", + "Lift the round kitchenpot with handles upward and hold it", + "Grip the cylindrical kitchenpot firmly and lift", + "Grab the gray kitchenpot and lift together", + "Grab the kitchenpot for boiling and cooking using both arms", + "Use both arms to raise the round kitchenpot with handles.", + "Raise the medium-sized kitchenpot using both arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Take hold of the dark gray stove kitchenpot and lift up", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Hold the smooth gray kitchenpot firmly with arms", + "Lift the round kitchenpot with handles up together", + "Lift the gray kitchenpot upward with both arms", + "Secure the medium kitchenpot made of metal and lift upward.", + "Raise the cylindrical kitchenpot securely with arms", + "Hold and raise the smooth gray kitchenpot together", + "Raise and hold the medium-sized kitchenpot together", + "Grasp the smooth gray kitchenpot and elevate together.", + "Grab the metal kitchenpot and lift it up", + "Raise the dark gray stove kitchenpot steadily using arms", + "Pick up the gray kitchenpot with both arms", + "Both arms lift the kitchenpot with smooth exterior upright", + "Hold the round kitchenpot with handles and lift upward", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Lift the medium kitchenpot made of metal carefully using arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Use both arms to raise the medium-sized kitchenpot", + "Secure the metal kitchenpot and lift it up", + "Securely lift the gray kitchenpot together", + "Carry the gray kitchenpot securely using arms", + "Lift the smooth gray kitchenpot up using your arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Hold and raise the kitchenpot for boiling and cooking together" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode12.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..ce6e95a93657310e92908f27ee07c82d9e119ec8 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Carry the kitchenpot for boiling and cooking securely using arms", + "Grip the dark gray stove kitchenpot firmly and lift", + "Grab the dark gray stove kitchenpot and lift it up", + "Raise the round kitchenpot with handles together with arms", + "Lift the medium kitchenpot made of metal carefully using arms", + "Raise the dark gray stove kitchenpot upward with both hands", + "Lift the round kitchenpot with handles upwards with care", + "Support the cylindrical kitchenpot and raise it upward", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Raise the kitchenpot for boiling and cooking together using arms", + "Grab the cooking kitchenpot with side grips using both arms", + "Lift the dark gray stove kitchenpot steadily using arms", + "Bring the smooth gray kitchenpot upwards together", + "Secure the dark gray stove kitchenpot and lift upward.", + "Raise and hold the gray kitchenpot together", + "Grab the smooth gray kitchenpot and lift it upwards", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Hold the cylindrical kitchenpot firmly with arms", + "Lift the round kitchenpot with handles upward with both arms", + "Lift the round kitchenpot with handles up together", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Pick up the medium-sized kitchenpot with both arms", + "Raise the gray kitchenpot using both arms", + "Both arms lift the medium-sized kitchenpot upright", + "Bring the gray kitchenpot up together", + "Pick up the metal kitchenpot with careful lifting", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Lift the kitchenpot with smooth exterior up using your arms", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Hold the gray kitchenpot and lift upward", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Hold the round kitchenpot with handles firmly and lift it", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Grab the cylindrical kitchenpot and lift together", + "Securely lift the metal kitchenpot together", + "Hold the medium kitchenpot made of metal with both arms", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Take hold of the round kitchenpot with handles and lift up", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Raise the cylindrical kitchenpot securely with arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Raise the medium kitchenpot made of metal with strong support", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Hold and raise the cylindrical kitchenpot together", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Lift the dark gray stove kitchenpot using both arms now.", + "Use arms to lift the smooth gray kitchenpot upward", + "Carry the smooth gray kitchenpot securely using arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Grab the medium kitchenpot made of metal and lift it up", + "Raise the medium-sized kitchenpot together with arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Lift the round kitchenpot with handles upwards with care", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Grab the dark gray stove kitchenpot using both arms", + "Lift the dark gray stove kitchenpot steadily using arms", + "Bring the medium kitchenpot made of metal upwards together", + "Secure the metal kitchenpot and lift upward.", + "Raise and hold the kitchenpot for boiling and cooking together", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Lift the medium kitchenpot made of metal upward with both arms", + "Lift the smooth gray kitchenpot up together", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Pick up the smooth gray kitchenpot with both arms", + "Raise the kitchenpot for boiling and cooking using both arms", + "Both arms lift the round kitchenpot with handles upright", + "Bring the gray kitchenpot up together", + "Pick up the round kitchenpot with handles with careful lifting", + "Lift the kitchenpot with smooth exterior steadily with support", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Lift the round kitchenpot with handles up using your arms", + "Lift the gray kitchenpot upward and hold it", + "Hold the kitchenpot with smooth exterior and lift upward", + "Secure the metal kitchenpot and lift it up", + "Hold the metal kitchenpot firmly and lift it", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Grab the gray kitchenpot and lift together", + "Securely lift the smooth gray kitchenpot together", + "Hold the kitchenpot with smooth exterior with both arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Take hold of the smooth gray kitchenpot and lift up", + "Hold the gray kitchenpot firmly and move upward.", + "Raise the medium kitchenpot made of metal securely with arms", + "Hold the gray kitchenpot firmly, then lift.", + "Raise the dark gray stove kitchenpot steadily using arms", + "Raise the dark gray stove kitchenpot with strong support", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Use both arms to raise the smooth gray kitchenpot.", + "Hold and raise the cylindrical kitchenpot together", + "Raise the cylindrical kitchenpot evenly with arms", + "Lift the dark gray stove kitchenpot using both arms now.", + "Use arms to lift the gray cylindrical metal kitchenpot upward" + ], + "unseen": [ + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode13.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..7ce0f64b5c9f60af5af859cee67e987966183ba5 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and raise the cylindrical kitchenpot together", + "Both arms lift the kitchenpot with smooth exterior upright", + "Lift the round kitchenpot with handles up using your arms", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Grab the round kitchenpot with handles using both arms", + "Raise the cylindrical kitchenpot upward with both hands", + "Pick up the metal kitchenpot with careful lifting", + "Hold the gray kitchenpot with both arms", + "Use both arms to raise the dark gray stove kitchenpot.", + "Bring the round kitchenpot with handles up together", + "With arms, raise the gray kitchenpot upward slowly.", + "Securely lift the round kitchenpot with handles together", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Lift the smooth gray kitchenpot upwards with care", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Lift the round kitchenpot with handles up together", + "Lift the medium kitchenpot made of metal upward with both arms", + "Raise the dark gray stove kitchenpot with strong support", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Carry the kitchenpot with smooth exterior securely using arms", + "Pick up the metal kitchenpot with both arms", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Lift the dark gray stove kitchenpot steadily using arms", + "Hold the smooth gray kitchenpot and lift upward", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise the dark gray stove kitchenpot together using arms", + "Raise and hold the medium-sized kitchenpot together", + "Grip the cylindrical kitchenpot firmly and lift", + "Use arms to lift the dark gray stove kitchenpot upward", + "Hold the round kitchenpot with handles firmly, then lift.", + "Raise the gray kitchenpot steadily using arms", + "Hold and raise the smooth gray kitchenpot together", + "Lift the cylindrical kitchenpot using both arms now.", + "Lift the round kitchenpot with handles carefully using arms", + "Raise the smooth gray kitchenpot together with arms", + "Secure the gray kitchenpot and lift it up", + "Bring the round kitchenpot with handles upwards together", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Lift the dark gray stove kitchenpot upward and hold it", + "Lift the cooking kitchenpot with side grips steadily with support", + "Raise the cooking kitchenpot with side grips securely with arms", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Take hold of the dark gray stove kitchenpot and lift up", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Hold and raise the kitchenpot with smooth exterior together", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Lift the gray kitchenpot up using your arms", + "Grab the dark gray stove kitchenpot and lift together", + "Grab the cooking kitchenpot with side grips using both arms", + "Raise the metal kitchenpot upward with both hands", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Hold the kitchenpot for boiling and cooking with both arms", + "Use both arms to raise the smooth gray kitchenpot.", + "Bring the medium-sized kitchenpot up together", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Securely lift the medium kitchenpot made of metal together", + "Engage arms to grip and lift the gray kitchenpot.", + "Grasp the medium-sized kitchenpot and elevate together.", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Support the dark gray stove kitchenpot and raise it upward", + "Lift the cooking kitchenpot with side grips upwards with care", + "Hold the dark gray stove kitchenpot firmly with arms", + "Grab the round kitchenpot with handles and lift it up", + "Lift the round kitchenpot with handles up together", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise the gray kitchenpot with strong support", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Carry the round kitchenpot with handles securely using arms", + "Pick up the medium kitchenpot made of metal with both arms", + "Raise the cylindrical kitchenpot using both arms", + "Use both arms to raise the round kitchenpot with handles", + "Grab the gray kitchenpot and lift it upwards", + "Lift the dark gray stove kitchenpot steadily using arms", + "Hold the smooth gray kitchenpot and lift upward", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Raise the cooking kitchenpot with side grips together using arms", + "Raise and hold the smooth gray kitchenpot together", + "Grip the dark gray stove kitchenpot firmly and lift", + "Use arms to lift the medium-sized kitchenpot upward", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Raise the round kitchenpot with handles steadily using arms", + "Hold and raise the gray kitchenpot together", + "Lift the medium-sized kitchenpot using both arms now.", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Raise the medium kitchenpot made of metal together with arms", + "Secure the kitchenpot with smooth exterior and lift it up", + "Bring the medium kitchenpot made of metal upwards together", + "Secure the dark gray stove kitchenpot and lift upward.", + "Lift the gray kitchenpot upward and hold it", + "Lift the medium-sized kitchenpot steadily with support", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Take hold of the dark gray stove kitchenpot and lift up", + "Hold the medium kitchenpot made of metal firmly and lift it" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode14.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..f7772d83767ac9f0a7af8ca1ad503addc99360f9 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the gray kitchenpot and lift it up", + "Raise the gray kitchenpot using both arms", + "Hold the gray kitchenpot firmly and lift it", + "Support the round kitchenpot with handles and raise it upward", + "Hold the gray kitchenpot firmly and move upward.", + "Lift the dark gray stove kitchenpot upwards with care", + "Engage arms to grip and lift the metal kitchenpot.", + "Raise and hold the medium-sized kitchenpot together", + "Place hands on the cylindrical kitchenpot, then lift.", + "Hold the kitchenpot for boiling and cooking with both arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise the kitchenpot with smooth exterior securely with arms", + "Grip the round kitchenpot with handles firmly and lift", + "Pick up the cylindrical kitchenpot with both arms", + "Bring the medium kitchenpot made of metal up together", + "Raise the metal kitchenpot steadily using arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Use arms to lift the medium-sized kitchenpot upward", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Hold the metal kitchenpot and lift upward", + "Grab the medium-sized kitchenpot and lift together", + "Raise the medium-sized kitchenpot with strong support", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Securely lift the kitchenpot with smooth exterior together", + "Raise the metal kitchenpot evenly with arms", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Grab the gray kitchenpot and lift it upwards", + "Lift the smooth gray kitchenpot steadily using arms", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Lift the metal kitchenpot carefully using both arms.", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Use both arms to raise the gray kitchenpot.", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Carry the gray kitchenpot securely using arms", + "Raise the gray kitchenpot upward with both hands", + "Secure the gray kitchenpot and lift upward.", + "Raise the kitchenpot for boiling and cooking together using arms", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Hold and raise the metal kitchenpot together", + "Lift the smooth gray kitchenpot up using your arms", + "Grab the kitchenpot for boiling and cooking using both arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Both arms lift the kitchenpot with smooth exterior upright", + "Grab the cooking kitchenpot with side grips and lift it up", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Take hold of the round kitchenpot with handles and lift up", + "Raise the kitchenpot for boiling and cooking together with arms", + "Lift the kitchenpot with smooth exterior up together", + "Use both arms to raise the gray kitchenpot", + "Hold the smooth gray kitchenpot firmly with arms", + "Secure the gray kitchenpot and lift it up", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Support the smooth gray kitchenpot and raise it upward", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Lift the kitchenpot with smooth exterior upwards with care", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Raise and hold the cylindrical kitchenpot together", + "Place hands on the smooth gray kitchenpot, then lift.", + "Hold the medium kitchenpot made of metal with both arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise the gray kitchenpot securely with arms", + "Grip the metal kitchenpot firmly and lift", + "Pick up the gray kitchenpot with both arms", + "Bring the metal kitchenpot up together", + "Raise the cooking kitchenpot with side grips steadily using arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Use arms to lift the round kitchenpot with handles upward", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Hold the metal kitchenpot and lift upward", + "Grab the metal kitchenpot and lift together", + "Raise the medium-sized kitchenpot with strong support", + "Bring the dark gray stove kitchenpot upwards together", + "Securely lift the cooking kitchenpot with side grips together", + "Raise the round kitchenpot with handles evenly with arms", + "Lift the smooth gray kitchenpot steadily with support", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Use both arms to raise the metal kitchenpot.", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Secure the metal kitchenpot and lift upward.", + "Raise the cylindrical kitchenpot together using arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Hold and raise the metal kitchenpot together", + "Lift the medium kitchenpot made of metal up using your arms", + "Grab the round kitchenpot with handles using both arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Both arms lift the medium kitchenpot made of metal upright", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Take hold of the dark gray stove kitchenpot and lift up", + "Raise the medium-sized kitchenpot together with arms", + "Lift the medium-sized kitchenpot up together", + "Use both arms to raise the medium kitchenpot made of metal", + "Hold the gray cylindrical metal kitchenpot firmly with arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode15.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..0c80ec0eb66f6082e3d5f9b75e1d5f0840998072 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Use both arms to raise the metal kitchenpot.", + "Hold and raise the kitchenpot with smooth exterior together", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Raise the cooking kitchenpot with side grips together with arms", + "Securely lift the medium-sized kitchenpot together", + "Lift the round kitchenpot with handles upward and hold it", + "Place hands on the metal kitchenpot, then lift.", + "Raise the smooth gray kitchenpot together using arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Lift the medium-sized kitchenpot steadily with support", + "Raise the gray kitchenpot securely with arms", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Support the kitchenpot with smooth exterior and raise it upward", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Grab the medium kitchenpot made of metal and lift it up", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Hold the metal kitchenpot firmly, then lift.", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Use both arms to raise the metal kitchenpot", + "Pick up the medium kitchenpot made of metal with both arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Lift the medium kitchenpot made of metal steadily using arms", + "Lift the cooking kitchenpot with side grips up using your arms", + "Hold the dark gray stove kitchenpot with both arms", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Take hold of the medium-sized kitchenpot and lift up", + "Grab the gray kitchenpot and lift together", + "Lift the metal kitchenpot upward with both arms", + "Grip the smooth gray kitchenpot firmly and lift", + "Both arms lift the cylindrical kitchenpot upright", + "Grab the round kitchenpot with handles using both arms", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Carry the dark gray stove kitchenpot securely using arms", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Bring the cylindrical kitchenpot upwards together", + "Secure the smooth gray kitchenpot and lift it up", + "Use arms to lift the medium-sized kitchenpot upward", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Raise and hold the kitchenpot with smooth exterior together", + "Raise the round kitchenpot with handles with strong support", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Grab the round kitchenpot with handles and lift it upwards", + "Hold and raise the medium-sized kitchenpot together", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Raise the round kitchenpot with handles upward with both hands", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Lift the medium kitchenpot made of metal up together", + "Lift the metal kitchenpot upwards with care", + "Secure the medium kitchenpot made of metal and lift upward.", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Use both arms to raise the medium-sized kitchenpot.", + "Hold and raise the dark gray stove kitchenpot together", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Raise the round kitchenpot with handles together with arms", + "Securely lift the metal kitchenpot together", + "Lift the cylindrical kitchenpot upward and hold it", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Raise the smooth gray kitchenpot together using arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Raise the dark gray stove kitchenpot securely with arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Support the cylindrical kitchenpot and raise it upward", + "Raise the dark gray stove kitchenpot steadily using arms", + "Grab the medium-sized kitchenpot and lift it up", + "Raise the kitchenpot for boiling and cooking using both arms", + "Hold the metal kitchenpot firmly, then lift.", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Pick up the smooth gray kitchenpot with both arms", + "Bring the dark gray stove kitchenpot up together", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Lift the cylindrical kitchenpot up using your arms", + "Hold the kitchenpot with smooth exterior with both arms", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Take hold of the round kitchenpot with handles and lift up", + "Grab the smooth gray kitchenpot and lift together", + "Lift the gray kitchenpot upward with both arms", + "Grip the cylindrical kitchenpot firmly and lift", + "Both arms lift the dark gray stove kitchenpot upright", + "Grab the round kitchenpot with handles using both arms", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Carry the kitchenpot with smooth exterior securely using arms", + "Hold the cooking kitchenpot with side grips and lift upward", + "Bring the medium kitchenpot made of metal upwards together", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Use arms to lift the cylindrical kitchenpot upward", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Raise the cylindrical kitchenpot with strong support", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Grab the round kitchenpot with handles and lift it upwards", + "Hold and raise the kitchenpot with smooth exterior together", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Lift the smooth gray kitchenpot up together", + "Lift the metal kitchenpot upwards with care", + "Secure the smooth gray kitchenpot and lift upward." + ], + "unseen": [ + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode16.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..6608aa9036c75123af16138b2c31494e5edaadb9 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Lift the kitchenpot for boiling and cooking up together", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Hold and raise the medium-sized kitchenpot together", + "Raise the cylindrical kitchenpot using both arms", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Place hands on the smooth gray kitchenpot, then lift.", + "Hold the round kitchenpot with handles firmly and lift it", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Securely lift the smooth gray kitchenpot together", + "Raise the metal kitchenpot evenly with arms", + "Grab the medium kitchenpot made of metal using both arms", + "Hold the cylindrical kitchenpot and lift upward", + "Raise the medium kitchenpot made of metal securely with arms", + "Bring the kitchenpot with smooth exterior upwards together", + "Lift the dark gray stove kitchenpot carefully using arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Hold and raise the round kitchenpot with handles together", + "Bring the gray kitchenpot up together", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Lift the medium kitchenpot made of metal steadily using arms", + "Use arms to lift the gray kitchenpot upward", + "Lift the metal kitchenpot upward and hold it", + "Pick up the round kitchenpot with handles with careful lifting", + "Raise the gray kitchenpot together using arms", + "Lift the round kitchenpot with handles using both arms now.", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Secure the kitchenpot with smooth exterior and lift it up", + "Hold the kitchenpot with smooth exterior with both arms", + "Pick up the cooking kitchenpot with side grips with both arms", + "Lift the cooking kitchenpot with side grips upwards with care", + "Both arms lift the cylindrical kitchenpot upright", + "Carry the dark gray stove kitchenpot securely using arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Use both arms to raise the medium kitchenpot made of metal", + "Take hold of the gray kitchenpot and lift up", + "Grip the cylindrical kitchenpot firmly and lift", + "Raise and hold the metal kitchenpot together", + "Lift the cylindrical kitchenpot up using your arms", + "Lift the cylindrical kitchenpot steadily with support", + "Raise the gray kitchenpot together with arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Lift the medium kitchenpot made of metal up together", + "Grab the cylindrical kitchenpot and lift together", + "Hold and raise the cylindrical kitchenpot together", + "Raise the medium-sized kitchenpot using both arms", + "Lift the medium kitchenpot made of metal upward with both arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Place hands on the smooth gray kitchenpot, then lift.", + "Hold the round kitchenpot with handles firmly and lift it", + "Raise the round kitchenpot with handles steadily using arms", + "Securely lift the round kitchenpot with handles together", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Grab the medium-sized kitchenpot using both arms", + "Hold the round kitchenpot with handles and lift upward", + "Raise the round kitchenpot with handles securely with arms", + "Bring the medium kitchenpot made of metal upwards together", + "Lift the gray kitchenpot carefully using arms", + "Raise the kitchenpot for boiling and cooking with strong support", + "Secure the medium-sized kitchenpot and lift upward.", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Grab the gray kitchenpot and lift it upwards", + "Hold and raise the metal kitchenpot together", + "Bring the metal kitchenpot up together", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Lift the medium kitchenpot made of metal steadily using arms", + "Use arms to lift the metal kitchenpot upward", + "Lift the round kitchenpot with handles upward and hold it", + "Pick up the medium-sized kitchenpot with careful lifting", + "Raise the kitchenpot for boiling and cooking together using arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Raise the round kitchenpot with handles upward with both hands", + "Hold the round kitchenpot with handles firmly with arms", + "Secure the kitchenpot with smooth exterior and lift it up", + "Hold the cylindrical kitchenpot with both arms", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Lift the cylindrical kitchenpot upwards with care", + "Both arms lift the dark gray stove kitchenpot upright", + "Carry the kitchenpot with smooth exterior securely using arms", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Grab the medium-sized kitchenpot and lift it up", + "Use both arms to raise the smooth gray kitchenpot", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Raise and hold the medium kitchenpot made of metal together", + "Lift the kitchenpot with smooth exterior up using your arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Raise the medium-sized kitchenpot together with arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode17.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..c36458f63730851403472a0f7a2abd3555ada3fe --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Use arms to lift the round kitchenpot with handles upward", + "Securely lift the cooking kitchenpot with side grips together", + "Hold and raise the metal kitchenpot together", + "Lift the kitchenpot with smooth exterior up using your arms", + "Carry the gray kitchenpot securely using arms", + "Raise the medium kitchenpot made of metal together with arms", + "Grab the metal kitchenpot and lift together", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise the metal kitchenpot evenly with arms", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Lift the cooking kitchenpot with side grips steadily with support", + "Grab the kitchenpot for boiling and cooking using both arms", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Raise the medium-sized kitchenpot using both arms", + "Lift the gray cylindrical metal kitchenpot up together", + "Pick up the medium kitchenpot made of metal with both arms", + "Support the smooth gray kitchenpot and raise it upward", + "Lift the cylindrical kitchenpot upward and hold it", + "Grab the medium-sized kitchenpot and lift it up", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Hold the smooth gray kitchenpot firmly and lift it", + "Lift the dark gray stove kitchenpot carefully using arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Raise the medium-sized kitchenpot together using arms", + "Raise the metal kitchenpot upward with both hands", + "Raise and hold the dark gray stove kitchenpot together", + "Hold the medium-sized kitchenpot with both arms", + "Bring the medium-sized kitchenpot up together", + "Secure the round kitchenpot with handles and lift upward.", + "Both arms lift the medium-sized kitchenpot upright", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Bring the metal kitchenpot upwards together", + "Place hands on the round kitchenpot with handles, then lift.", + "Engage arms to grip and lift the metal kitchenpot.", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Use both arms to raise the medium kitchenpot made of metal", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Raise the smooth gray kitchenpot with strong support", + "Hold the metal kitchenpot and lift upward", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Lift the smooth gray kitchenpot upwards with care", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Raise the metal kitchenpot securely with arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Use arms to lift the medium-sized kitchenpot upward", + "Securely lift the medium-sized kitchenpot together", + "Hold and raise the dark gray stove kitchenpot together", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Carry the medium-sized kitchenpot securely using arms", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Grab the medium-sized kitchenpot and lift together", + "Lift the metal kitchenpot using both arms now.", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Lift the cylindrical kitchenpot steadily with support", + "Grab the dark gray stove kitchenpot using both arms", + "Pick up the gray kitchenpot with careful lifting", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Raise the medium kitchenpot made of metal using both arms", + "Lift the gray kitchenpot up together", + "Pick up the cylindrical kitchenpot with both arms", + "Support the metal kitchenpot and raise it upward", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Grab the kitchenpot with smooth exterior and lift it up", + "Hold the medium kitchenpot made of metal firmly with arms", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Lift the medium kitchenpot made of metal carefully using arms", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Raise the medium kitchenpot made of metal together using arms", + "Raise the metal kitchenpot upward with both hands", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Hold the kitchenpot for boiling and cooking with both arms", + "Bring the kitchenpot for boiling and cooking up together", + "Secure the cylindrical kitchenpot and lift upward.", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Raise the smooth gray kitchenpot steadily using arms", + "Hold and raise the round kitchenpot with handles together", + "Grab the metal kitchenpot and lift it upwards", + "Bring the gray kitchenpot upwards together", + "Place hands on the round kitchenpot with handles, then lift.", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Secure the gray kitchenpot and lift it up", + "Use both arms to raise the metal kitchenpot", + "Use both arms to raise the round kitchenpot with handles.", + "Raise the kitchenpot with smooth exterior with strong support", + "Hold the metal kitchenpot and lift upward", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Lift the smooth gray kitchenpot upwards with care" + ], + "unseen": [ + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode18.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..90d8451f9581256d1ef2e38d57efb3dc9fc2c180 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use both arms to raise the medium kitchenpot made of metal.", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Lift the round kitchenpot with handles upward with both arms", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Grip the metal kitchenpot firmly and lift", + "Raise the smooth gray kitchenpot upward with both hands", + "Bring the round kitchenpot with handles upwards together", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Pick up the metal kitchenpot with both arms", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Hold the kitchenpot with smooth exterior and lift upward", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Carry the cooking kitchenpot with side grips securely using arms", + "Lift the metal kitchenpot carefully using arms", + "Lift the metal kitchenpot carefully using both arms.", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Raise the cooking kitchenpot with side grips with strong support", + "Lift the smooth gray kitchenpot using both arms now.", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Hold the round kitchenpot with handles firmly and lift it", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Raise the medium kitchenpot made of metal steadily using arms", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Hold and raise the metal kitchenpot together", + "Raise the medium-sized kitchenpot using both arms", + "Raise the dark gray stove kitchenpot securely with arms", + "Lift the cooking kitchenpot with side grips up together", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Grab the medium kitchenpot made of metal and lift together", + "Both arms lift the metal kitchenpot upright", + "Lift the metal kitchenpot upwards with care", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Secure the dark gray stove kitchenpot and lift it up", + "Grab the cooking kitchenpot with side grips using both arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Raise and hold the cooking kitchenpot with side grips together", + "Support the cooking kitchenpot with side grips and raise it upward", + "Hold the gray kitchenpot firmly with arms", + "Raise the medium kitchenpot made of metal together with arms", + "Take hold of the round kitchenpot with handles and lift up", + "Lift the medium kitchenpot made of metal up using your arms", + "Secure the dark gray stove kitchenpot and lift upward.", + "Lift the medium kitchenpot made of metal upward and hold it", + "Bring the gray kitchenpot up together", + "Hold and raise the cooking kitchenpot with side grips together", + "Securely lift the dark gray stove kitchenpot together", + "Lift the gray kitchenpot steadily with support", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Use both arms to raise the gray kitchenpot.", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Lift the metal kitchenpot upward with both arms", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Grip the smooth gray kitchenpot firmly and lift", + "Raise the medium kitchenpot made of metal upward with both hands", + "Bring the round kitchenpot with handles upwards together", + "Place hands on the gray kitchenpot, then lift.", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Hold the dark gray stove kitchenpot and lift upward", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Lift the round kitchenpot with handles carefully using both arms.", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Raise the medium-sized kitchenpot with strong support", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Grab the gray kitchenpot and lift it up", + "Hold the gray kitchenpot firmly and lift it", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Raise the kitchenpot with smooth exterior steadily using arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Raise the cooking kitchenpot with side grips securely with arms", + "Lift the metal kitchenpot up together", + "Raise the medium-sized kitchenpot together using arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Grab the cylindrical kitchenpot and lift together", + "Both arms lift the cylindrical kitchenpot upright", + "Lift the cylindrical kitchenpot upwards with care", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Secure the gray kitchenpot and lift it up", + "Grab the cylindrical kitchenpot using both arms", + "Raise the medium kitchenpot made of metal evenly with arms", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Support the kitchenpot with smooth exterior and raise it upward", + "Hold the medium kitchenpot made of metal firmly with arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Lift the medium-sized kitchenpot up using your arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Lift the cylindrical kitchenpot upward and hold it", + "Bring the cooking kitchenpot with side grips up together", + "Hold and raise the gray kitchenpot together", + "Securely lift the kitchenpot for boiling and cooking together", + "Lift the medium kitchenpot made of metal steadily with support", + "Grasp the cooking kitchenpot with side grips and elevate together." + ], + "unseen": [ + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode19.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..254be4a366c9fdf019445b6513e23bf03830e250 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use arms to lift the smooth gray kitchenpot upward", + "Lift the smooth gray kitchenpot carefully using arms", + "Bring the dark gray stove kitchenpot up together", + "With arms, raise the gray kitchenpot upward slowly.", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Take hold of the gray kitchenpot and lift up", + "Securely lift the metal kitchenpot together", + "Lift the round kitchenpot with handles upward and hold it", + "Raise the smooth gray kitchenpot together using arms", + "Lift the gray kitchenpot steadily using arms", + "Lift the smooth gray kitchenpot upward with both arms", + "Raise the metal kitchenpot evenly with arms", + "Raise the cylindrical kitchenpot securely with arms", + "Bring the medium kitchenpot made of metal upwards together", + "Grab the round kitchenpot with handles and lift it up", + "Secure the cooking kitchenpot with side grips and lift it up", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Hold the dark gray stove kitchenpot and lift upward", + "Hold and raise the gray kitchenpot together", + "Lift the medium-sized kitchenpot upwards with care", + "Hold the medium kitchenpot made of metal firmly with arms", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Raise the smooth gray kitchenpot steadily using arms", + "Raise and hold the medium kitchenpot made of metal together", + "Raise the round kitchenpot with handles with strong support", + "Hold and raise the cylindrical kitchenpot together", + "Lift the cooking kitchenpot with side grips steadily with support", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Support the smooth gray kitchenpot and raise it upward", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Hold the round kitchenpot with handles firmly and lift it", + "Grasp the gray kitchenpot and elevate together.", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Hold the kitchenpot for boiling and cooking with both arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Both arms lift the metal kitchenpot upright", + "Carry the smooth gray kitchenpot securely using arms", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Lift the smooth gray kitchenpot using both arms now.", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Grab the dark gray stove kitchenpot using both arms", + "Raise the round kitchenpot with handles using both arms", + "Lift the round kitchenpot with handles up together", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Grab the medium-sized kitchenpot and lift together", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Pick up the cylindrical kitchenpot with both arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Lift the round kitchenpot with handles carefully using arms", + "Bring the gray kitchenpot up together", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Raise the dark gray stove kitchenpot upward with both hands", + "Grip the round kitchenpot with handles firmly and lift", + "Take hold of the metal kitchenpot and lift up", + "Securely lift the kitchenpot for boiling and cooking together", + "Lift the dark gray stove kitchenpot upward and hold it", + "Raise the dark gray stove kitchenpot together using arms", + "Lift the medium kitchenpot made of metal steadily using arms", + "Lift the smooth gray kitchenpot upward with both arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Bring the cylindrical kitchenpot upwards together", + "Grab the medium kitchenpot made of metal and lift it up", + "Secure the medium-sized kitchenpot and lift it up", + "Pick up the metal kitchenpot with careful lifting", + "Hold the cooking kitchenpot with side grips and lift upward", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the medium kitchenpot made of metal upwards with care", + "Hold the dark gray stove kitchenpot firmly with arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "Hold the round kitchenpot with handles firmly and move upward.", + "Raise the cylindrical kitchenpot steadily using arms", + "Raise and hold the smooth gray kitchenpot together", + "Raise the medium kitchenpot made of metal with strong support", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the gray kitchenpot steadily with support", + "Place hands on the metal kitchenpot, then lift.", + "Support the medium-sized kitchenpot and raise it upward", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Hold the medium-sized kitchenpot firmly and lift it", + "Grasp the medium-sized kitchenpot and elevate together.", + "Hold the round kitchenpot with handles firmly, then lift.", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Both arms lift the gray kitchenpot upright", + "Carry the metal kitchenpot securely using arms", + "Secure the gray kitchenpot and lift upward.", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Lift the smooth gray kitchenpot using both arms now.", + "Raise the kitchenpot with smooth exterior together with arms", + "Grab the kitchenpot with smooth exterior using both arms", + "Raise the dark gray stove kitchenpot using both arms", + "Lift the metal kitchenpot up together", + "Lift the cooking kitchenpot with side grips up using your arms", + "Grab the medium-sized kitchenpot and lift together", + "Grab the medium-sized kitchenpot and lift it upwards", + "Pick up the gray kitchenpot with both arms" + ], + "unseen": [ + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode2.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..07db0f3937213ba6b1ce255c6b26889b9bcae503 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the kitchenpot with smooth exterior with both arms", + "Raise the metal kitchenpot securely with arms", + "Lift the medium kitchenpot made of metal steadily using arms", + "Lift the medium kitchenpot made of metal carefully using arms", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Hold the round kitchenpot with handles firmly, then lift.", + "Lift the metal kitchenpot up together", + "Raise the kitchenpot for boiling and cooking together using arms", + "Hold the metal kitchenpot firmly and lift it", + "Lift the round kitchenpot with handles up using your arms", + "Hold the smooth gray kitchenpot with both arms", + "Raise and hold the smooth gray kitchenpot together", + "Both arms lift the medium-sized kitchenpot upright", + "Grip the metal kitchenpot firmly and lift", + "Engage arms to grip and lift the metal kitchenpot.", + "Raise the smooth gray kitchenpot evenly with arms", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Grasp the smooth gray kitchenpot and elevate together.", + "Hold the round kitchenpot with handles firmly and move upward.", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Hold and raise the smooth gray kitchenpot together", + "Lift the metal kitchenpot upward with both arms", + "Grab the kitchenpot with smooth exterior and lift together", + "Hold and raise the medium-sized kitchenpot together", + "Bring the round kitchenpot with handles up together", + "Raise the kitchenpot for boiling and cooking using both arms", + "Securely lift the gray cylindrical metal kitchenpot together", + "Carry the round kitchenpot with handles securely using arms", + "Hold the metal kitchenpot and lift upward", + "Hold the gray kitchenpot firmly with arms", + "Secure the medium-sized kitchenpot and lift upward.", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Secure the dark gray stove kitchenpot and lift it up", + "Bring the round kitchenpot with handles upwards together", + "Grab the kitchenpot with smooth exterior using both arms", + "Raise the cooking kitchenpot with side grips with strong support", + "Raise the medium kitchenpot made of metal steadily using arms", + "Use both arms to raise the metal kitchenpot.", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Grab the gray kitchenpot and lift it upwards", + "Raise the smooth gray kitchenpot together with arms", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Use both arms to raise the kitchenpot with smooth exterior", + "Take hold of the gray kitchenpot and lift up", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Lift the dark gray stove kitchenpot upwards with care", + "Grab the kitchenpot with smooth exterior and lift it up", + "Pick up the dark gray stove kitchenpot with both arms", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Lift the smooth gray kitchenpot steadily using arms", + "Lift the metal kitchenpot carefully using arms", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Hold the metal kitchenpot firmly, then lift.", + "Lift the cooking kitchenpot with side grips up together", + "Raise the gray kitchenpot together using arms", + "Hold the metal kitchenpot firmly and lift it", + "Lift the medium kitchenpot made of metal up using your arms", + "Hold the kitchenpot for boiling and cooking with both arms", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Both arms lift the smooth gray kitchenpot upright", + "Grip the smooth gray kitchenpot firmly and lift", + "Engage arms to grip and lift the gray kitchenpot.", + "Raise the gray kitchenpot evenly with arms", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Grasp the smooth gray kitchenpot and elevate together.", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the metal kitchenpot upward with both arms", + "Grab the dark gray stove kitchenpot and lift together", + "Hold and raise the kitchenpot for boiling and cooking together", + "Bring the cooking kitchenpot with side grips up together", + "Raise the kitchenpot with smooth exterior using both arms", + "Securely lift the cylindrical kitchenpot together", + "Carry the metal kitchenpot securely using arms", + "Hold the medium kitchenpot made of metal and lift upward", + "Hold the dark gray stove kitchenpot firmly with arms", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Secure the metal kitchenpot and lift it up", + "Bring the dark gray stove kitchenpot upwards together", + "Grab the kitchenpot with smooth exterior using both arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Raise the medium-sized kitchenpot together with arms", + "Support the medium kitchenpot made of metal and raise it upward", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Take hold of the medium-sized kitchenpot and lift up", + "Raise the round kitchenpot with handles upward with both hands", + "Lift the medium-sized kitchenpot using both arms now.", + "Lift the round kitchenpot with handles upwards with care", + "Grab the dark gray stove kitchenpot and lift it up" + ], + "unseen": [ + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode20.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..6bac85aeafa5bc746e4137934e3f263a79e0de6a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the metal kitchenpot up using your arms", + "Grab the metal kitchenpot using both arms", + "Take hold of the smooth gray kitchenpot and lift up", + "Bring the smooth gray kitchenpot upwards together", + "Lift the medium kitchenpot made of metal steadily using arms", + "Grab the cylindrical kitchenpot and lift it upwards", + "Hold the gray kitchenpot and lift upward", + "Lift the cooking kitchenpot with side grips steadily with support", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Lift the round kitchenpot with handles using both arms now.", + "Raise and hold the kitchenpot for boiling and cooking together", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Raise the cylindrical kitchenpot using both arms", + "Bring the medium kitchenpot made of metal up together", + "Securely lift the gray cylindrical metal kitchenpot together", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Both arms lift the cooking kitchenpot with side grips upright", + "Hold the gray kitchenpot firmly with arms", + "Hold and raise the round kitchenpot with handles together", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Hold the medium-sized kitchenpot with both arms", + "Raise the cylindrical kitchenpot together with arms", + "Lift the gray kitchenpot carefully using arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "With arms, raise the gray kitchenpot upward slowly.", + "Secure the dark gray stove kitchenpot and lift upward.", + "Support the round kitchenpot with handles and raise it upward", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Pick up the kitchenpot with smooth exterior with both arms", + "Lift the gray kitchenpot carefully using both arms.", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Secure the medium-sized kitchenpot and lift it up", + "Raise the round kitchenpot with handles with strong support", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Carry the metal kitchenpot securely using arms", + "Grab the round kitchenpot with handles and lift it up", + "Raise the kitchenpot for boiling and cooking together using arms", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Use both arms to raise the dark gray stove kitchenpot", + "Hold and raise the round kitchenpot with handles together", + "Lift the medium-sized kitchenpot upwards with care", + "Raise the round kitchenpot with handles securely with arms", + "Lift the cooking kitchenpot with side grips up together", + "Grab the smooth gray kitchenpot and lift together", + "Lift the dark gray stove kitchenpot up using your arms", + "Grab the metal kitchenpot using both arms", + "Take hold of the gray kitchenpot and lift up", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Lift the gray kitchenpot steadily using arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Hold the dark gray stove kitchenpot and lift upward", + "Lift the round kitchenpot with handles steadily with support", + "Raise the metal kitchenpot upward with both hands", + "Grip the dark gray stove kitchenpot firmly and lift", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Raise and hold the metal kitchenpot together", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Raise the kitchenpot for boiling and cooking using both arms", + "Bring the kitchenpot for boiling and cooking up together", + "Securely lift the medium kitchenpot made of metal together", + "Use both arms to raise the round kitchenpot with handles.", + "Both arms lift the medium-sized kitchenpot upright", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the gray kitchenpot upward with both arms", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Hold the metal kitchenpot firmly and lift it", + "Hold the cylindrical kitchenpot with both arms", + "Raise the kitchenpot with smooth exterior together with arms", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Secure the metal kitchenpot and lift upward.", + "Support the round kitchenpot with handles and raise it upward", + "Use arms to lift the smooth gray kitchenpot upward", + "Pick up the cylindrical kitchenpot with careful lifting", + "Pick up the metal kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Raise the dark gray stove kitchenpot evenly with arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Secure the cylindrical kitchenpot and lift it up", + "Raise the cylindrical kitchenpot with strong support", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Carry the medium-sized kitchenpot securely using arms", + "Grab the medium kitchenpot made of metal and lift it up", + "Raise the kitchenpot with smooth exterior together using arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Hold and raise the metal kitchenpot together", + "Lift the dark gray stove kitchenpot upwards with care", + "Raise the gray kitchenpot securely with arms", + "Lift the gray cylindrical metal kitchenpot up together", + "Grab the gray kitchenpot and lift together" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode21.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..66e6d8fd8b77314b291ef95be1f5b3a565d8b06b --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the round kitchenpot with handles and lift upward", + "Hold and raise the kitchenpot for boiling and cooking together", + "Raise the gray kitchenpot evenly with arms", + "Lift the metal kitchenpot steadily using arms", + "Hold the medium kitchenpot made of metal with both arms", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Lift the round kitchenpot with handles carefully using arms", + "Lift the kitchenpot with smooth exterior up together", + "Both arms lift the metal kitchenpot upright", + "Grab the dark gray stove kitchenpot and lift together", + "Bring the round kitchenpot with handles upwards together", + "Lift the round kitchenpot with handles using both arms now.", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Raise and hold the cylindrical kitchenpot together", + "Grab the smooth gray kitchenpot using both arms", + "Take hold of the smooth gray kitchenpot and lift up", + "Raise the gray kitchenpot together using arms", + "Securely lift the kitchenpot with smooth exterior together", + "Hold the gray kitchenpot firmly and lift it", + "Use both arms to raise the round kitchenpot with handles", + "Lift the medium-sized kitchenpot steadily with support", + "Raise the medium-sized kitchenpot steadily using arms", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Lift the gray kitchenpot upwards with care", + "Secure the gray kitchenpot and lift upward.", + "Grasp the cylindrical kitchenpot and elevate together.", + "Carry the medium-sized kitchenpot securely using arms", + "With arms, raise the metal kitchenpot upward slowly.", + "Support the metal kitchenpot and raise it upward", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Raise the smooth gray kitchenpot with strong support", + "Lift the cylindrical kitchenpot upward and hold it", + "Pick up the medium-sized kitchenpot with careful lifting", + "Bring the cylindrical kitchenpot up together", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Place hands on the metal kitchenpot, then lift.", + "Raise the smooth gray kitchenpot securely with arms", + "Raise the cylindrical kitchenpot upward with both hands", + "Hold and raise the cylindrical kitchenpot together", + "Raise the gray kitchenpot using both arms", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Grab the dark gray stove kitchenpot and lift it up", + "Raise the kitchenpot with smooth exterior together with arms", + "Hold the round kitchenpot with handles firmly, then lift.", + "Secure the gray kitchenpot and lift it up", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Lift the gray kitchenpot up using your arms", + "Pick up the kitchenpot with smooth exterior with both arms", + "Hold the metal kitchenpot and lift upward", + "Hold and raise the medium kitchenpot made of metal together", + "Raise the metal kitchenpot evenly with arms", + "Lift the dark gray stove kitchenpot steadily using arms", + "Hold the cylindrical kitchenpot with both arms", + "Hold the gray kitchenpot firmly with arms", + "Use both arms to raise the medium kitchenpot made of metal.", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Lift the gray cylindrical metal kitchenpot up together", + "Both arms lift the kitchenpot with smooth exterior upright", + "Grab the medium-sized kitchenpot and lift together", + "Bring the dark gray stove kitchenpot upwards together", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Lift the dark gray stove kitchenpot upward with both arms", + "Raise and hold the kitchenpot with smooth exterior together", + "Grab the kitchenpot with smooth exterior using both arms", + "Take hold of the cylindrical kitchenpot and lift up", + "Raise the metal kitchenpot together using arms", + "Securely lift the dark gray stove kitchenpot together", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Use both arms to raise the cooking kitchenpot with side grips", + "Lift the cylindrical kitchenpot steadily with support", + "Raise the dark gray stove kitchenpot steadily using arms", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Lift the cooking kitchenpot with side grips upwards with care", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Grasp the medium-sized kitchenpot and elevate together.", + "Carry the kitchenpot for boiling and cooking securely using arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Support the cylindrical kitchenpot and raise it upward", + "Use arms to lift the metal kitchenpot upward", + "Raise the medium-sized kitchenpot with strong support", + "Lift the round kitchenpot with handles upward and hold it", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Bring the kitchenpot with smooth exterior up together", + "Lift the round kitchenpot with handles carefully using both arms.", + "Place hands on the smooth gray kitchenpot, then lift.", + "Raise the round kitchenpot with handles securely with arms", + "Raise the metal kitchenpot upward with both hands", + "Hold and raise the medium kitchenpot made of metal together", + "Raise the cylindrical kitchenpot using both arms", + "Hold the gray kitchenpot firmly and move upward.", + "Grab the smooth gray kitchenpot and lift it up", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Grab the smooth gray kitchenpot and lift it upwards", + "Lift the smooth gray kitchenpot up using your arms", + "Pick up the gray kitchenpot with both arms" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode22.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..3e04ab560bc9b3e7fa407ae8123e8b0a6301dfab --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the round kitchenpot with handles and lift it upwards", + "Grab the metal kitchenpot and lift it up", + "Pick up the medium-sized kitchenpot with both arms", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Hold the medium-sized kitchenpot with both arms", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Take hold of the cylindrical kitchenpot and lift up", + "Use both arms to raise the kitchenpot with smooth exterior", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Both arms lift the gray kitchenpot upright", + "Use arms to lift the smooth gray kitchenpot upward", + "Grab the medium kitchenpot made of metal using both arms", + "Raise the gray kitchenpot securely with arms", + "Securely lift the metal kitchenpot together", + "Raise and hold the gray kitchenpot together", + "Grip the metal kitchenpot firmly and lift", + "Secure the cylindrical kitchenpot and lift it up", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Lift the medium kitchenpot made of metal using both arms now.", + "Bring the dark gray stove kitchenpot up together", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Hold the cylindrical kitchenpot and lift upward", + "Hold and raise the smooth gray kitchenpot together", + "Lift the medium-sized kitchenpot upward and hold it", + "Lift the medium kitchenpot made of metal upwards with care", + "Carry the cooking kitchenpot with side grips securely using arms", + "Raise the kitchenpot for boiling and cooking with strong support", + "Lift the metal kitchenpot steadily using arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Use both arms to raise the gray kitchenpot.", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Secure the round kitchenpot with handles and lift upward.", + "Raise the gray kitchenpot using both arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Grasp the dark gray stove kitchenpot and elevate together.", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Lift the gray cylindrical metal kitchenpot up together", + "Bring the cooking kitchenpot with side grips upwards together", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Lift the metal kitchenpot upward with both arms", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Raise the cooking kitchenpot with side grips together with arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Hold and raise the cylindrical kitchenpot together", + "Grab the dark gray stove kitchenpot and lift together", + "Lift the smooth gray kitchenpot up using your arms", + "Lift the round kitchenpot with handles steadily with support", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Raise the medium kitchenpot made of metal steadily using arms", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Grab the kitchenpot with smooth exterior and lift it up", + "Pick up the cooking kitchenpot with side grips with both arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Hold the gray kitchenpot with both arms", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Take hold of the medium-sized kitchenpot and lift up", + "Use both arms to raise the medium kitchenpot made of metal", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Both arms lift the cylindrical kitchenpot upright", + "Use arms to lift the round kitchenpot with handles upward", + "Grab the medium-sized kitchenpot using both arms", + "Raise the smooth gray kitchenpot securely with arms", + "Securely lift the gray kitchenpot together", + "Raise and hold the medium-sized kitchenpot together", + "Grip the cylindrical kitchenpot firmly and lift", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Lift the medium kitchenpot made of metal using both arms now.", + "Bring the cylindrical kitchenpot up together", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Hold the smooth gray kitchenpot and lift upward", + "Hold and raise the gray kitchenpot together", + "Lift the cylindrical kitchenpot upward and hold it", + "Lift the cooking kitchenpot with side grips upwards with care", + "Carry the cylindrical kitchenpot securely using arms", + "Raise the cooking kitchenpot with side grips with strong support", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Use both arms to raise the medium kitchenpot made of metal.", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Secure the gray kitchenpot and lift upward.", + "Raise the dark gray stove kitchenpot using both arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Raise the kitchenpot with smooth exterior together using arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Lift the gray cylindrical metal kitchenpot up together", + "Bring the smooth gray kitchenpot upwards together", + "Hold the round kitchenpot with handles firmly, then lift.", + "Lift the cylindrical kitchenpot upward with both arms", + "Support the medium-sized kitchenpot and raise it upward", + "Raise the metal kitchenpot together with arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Hold and raise the dark gray stove kitchenpot together", + "Grab the medium-sized kitchenpot and lift together", + "Lift the gray kitchenpot up using your arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Raise the cooking kitchenpot with side grips steadily using arms" + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode23.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..417f2ceee24b55a296c8f8f0064a22a4cbe32f42 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the medium-sized kitchenpot firmly and lift", + "Use both arms to raise the medium-sized kitchenpot.", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Carry the round kitchenpot with handles securely using arms", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Hold and raise the round kitchenpot with handles together", + "Grab the kitchenpot with smooth exterior and lift it up", + "Securely lift the round kitchenpot with handles together", + "Use arms to lift the dark gray stove kitchenpot upward", + "Bring the round kitchenpot with handles upwards together", + "Lift the gray kitchenpot carefully using both arms.", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Lift the round kitchenpot with handles upwards with care", + "Raise the metal kitchenpot with strong support", + "Lift the gray kitchenpot carefully using arms", + "Raise the metal kitchenpot securely with arms", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Hold the gray kitchenpot and lift upward", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Bring the metal kitchenpot up together", + "Lift the medium kitchenpot made of metal steadily with support", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Lift the round kitchenpot with handles upward with both arms", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Lift the smooth gray kitchenpot steadily using arms", + "Lift the dark gray stove kitchenpot up together", + "Lift the medium kitchenpot made of metal upward and hold it", + "Hold and raise the medium-sized kitchenpot together", + "Hold the kitchenpot with smooth exterior with both arms", + "With arms, raise the metal kitchenpot upward slowly.", + "Raise the cylindrical kitchenpot evenly with arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Lift the medium-sized kitchenpot up using your arms", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Hold the medium kitchenpot made of metal firmly with arms", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Raise the kitchenpot for boiling and cooking using both arms", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Pick up the kitchenpot with smooth exterior with both arms", + "Hold the metal kitchenpot firmly and move upward.", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Both arms lift the medium kitchenpot made of metal upright", + "Grab the medium-sized kitchenpot using both arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Hold the gray kitchenpot firmly, then lift.", + "Raise and hold the cooking kitchenpot with side grips together", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Grab the medium-sized kitchenpot and lift it upwards", + "Raise the medium-sized kitchenpot together using arms", + "Carry the smooth gray kitchenpot securely using arms", + "Pick up the smooth gray kitchenpot with careful lifting", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Grab the dark gray stove kitchenpot and lift it up", + "Securely lift the metal kitchenpot together", + "Use arms to lift the round kitchenpot with handles upward", + "Bring the gray kitchenpot upwards together", + "Lift the round kitchenpot with handles carefully using both arms.", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Raise the cylindrical kitchenpot with strong support", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Raise the metal kitchenpot securely with arms", + "Secure the metal kitchenpot and lift it up", + "Hold the dark gray stove kitchenpot and lift upward", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Grab the cylindrical kitchenpot and lift together", + "Bring the kitchenpot for boiling and cooking up together", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Secure the dark gray stove kitchenpot and lift upward.", + "Lift the round kitchenpot with handles upward with both arms", + "Use both arms to raise the gray kitchenpot", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Lift the medium-sized kitchenpot up together", + "Lift the dark gray stove kitchenpot upward and hold it", + "Hold and raise the cylindrical kitchenpot together", + "Hold the metal kitchenpot with both arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Raise the medium-sized kitchenpot evenly with arms", + "Grasp the round kitchenpot with handles and elevate together.", + "Lift the kitchenpot with smooth exterior up using your arms", + "Hold the medium-sized kitchenpot firmly and lift it", + "Hold the cylindrical kitchenpot firmly with arms", + "Place hands on the medium-sized kitchenpot, then lift.", + "Raise the medium kitchenpot made of metal using both arms", + "Lift the smooth gray kitchenpot using both arms now.", + "Pick up the cooking kitchenpot with side grips with both arms", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Support the round kitchenpot with handles and raise it upward", + "Both arms lift the dark gray stove kitchenpot upright", + "Grab the smooth gray kitchenpot using both arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Raise the gray kitchenpot together with arms", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Raise and hold the gray kitchenpot together", + "Take hold of the metal kitchenpot and lift up" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode24.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..97c53046e1191d0edfd6fb3e7045e573f68b32fe --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium kitchenpot made of metal and lift it up", + "Hold the gray kitchenpot with both arms", + "Lift the metal kitchenpot carefully using both arms.", + "Raise the metal kitchenpot together using arms", + "Grab the metal kitchenpot using both arms", + "Secure the cylindrical kitchenpot and lift it up", + "Raise the kitchenpot for boiling and cooking together with arms", + "Lift the round kitchenpot with handles using both arms now.", + "Bring the medium kitchenpot made of metal upwards together", + "Raise the dark gray stove kitchenpot evenly with arms", + "Hold the cylindrical kitchenpot firmly with arms", + "Raise the cylindrical kitchenpot securely with arms", + "Hold and raise the medium-sized kitchenpot together", + "Use arms to lift the medium-sized kitchenpot upward", + "Lift the round kitchenpot with handles upward and hold it", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Hold the round kitchenpot with handles firmly, then lift.", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Pick up the metal kitchenpot with careful lifting", + "Lift the medium-sized kitchenpot up together", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Place hands on the smooth gray kitchenpot, then lift.", + "Securely lift the medium kitchenpot made of metal together", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Hold the gray kitchenpot firmly and move upward.", + "Raise and hold the kitchenpot for boiling and cooking together", + "Raise the medium kitchenpot made of metal using both arms", + "Pick up the gray kitchenpot with both arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Raise the smooth gray kitchenpot upward with both hands", + "Grasp the cylindrical kitchenpot and elevate together.", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Hold the gray kitchenpot firmly and lift it", + "Use both arms to raise the cooking kitchenpot with side grips", + "Hold the dark gray stove kitchenpot and lift upward", + "Lift the dark gray stove kitchenpot upward with both arms", + "Lift the metal kitchenpot carefully using arms", + "Lift the gray kitchenpot up using your arms", + "Secure the metal kitchenpot and lift upward.", + "Grip the dark gray stove kitchenpot firmly and lift", + "Hold and raise the smooth gray kitchenpot together", + "Carry the cylindrical kitchenpot securely using arms", + "Raise the gray kitchenpot with strong support", + "Bring the cooking kitchenpot with side grips up together", + "Grab the smooth gray kitchenpot and lift together", + "Raise the medium-sized kitchenpot steadily using arms", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Lift the cooking kitchenpot with side grips steadily with support", + "With arms, raise the metal kitchenpot upward slowly.", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Grab the cooking kitchenpot with side grips and lift it up", + "Hold the smooth gray kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Raise the dark gray stove kitchenpot together using arms", + "Grab the medium kitchenpot made of metal using both arms", + "Secure the metal kitchenpot and lift it up", + "Raise the medium kitchenpot made of metal together with arms", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Raise the smooth gray kitchenpot evenly with arms", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Raise the cooking kitchenpot with side grips securely with arms", + "Hold and raise the medium-sized kitchenpot together", + "Use arms to lift the gray kitchenpot upward", + "Lift the cylindrical kitchenpot upward and hold it", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Take hold of the smooth gray kitchenpot and lift up", + "Pick up the smooth gray kitchenpot with careful lifting", + "Lift the gray kitchenpot up together", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Place hands on the metal kitchenpot, then lift.", + "Securely lift the round kitchenpot with handles together", + "Grab the medium-sized kitchenpot and lift it upwards", + "Hold the gray kitchenpot firmly and move upward.", + "Raise and hold the metal kitchenpot together", + "Raise the cooking kitchenpot with side grips using both arms", + "Pick up the metal kitchenpot with both arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Grasp the metal kitchenpot and elevate together.", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Hold the medium-sized kitchenpot firmly and lift it", + "Use both arms to raise the metal kitchenpot", + "Hold the medium-sized kitchenpot and lift upward", + "Lift the dark gray stove kitchenpot upward with both arms", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Secure the dark gray stove kitchenpot and lift upward.", + "Grip the medium kitchenpot made of metal firmly and lift", + "Hold and raise the smooth gray kitchenpot together", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Bring the cylindrical kitchenpot up together", + "Grab the cooking kitchenpot with side grips and lift together", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Use both arms to raise the metal kitchenpot.", + "Lift the medium-sized kitchenpot steadily with support", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Engage arms to grip and lift the gray kitchenpot." + ], + "unseen": [ + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode25.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..046c71eee426cfbf4881748d4325dc0b70b9781b --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the kitchenpot for boiling and cooking and lift together", + "Secure the kitchenpot with smooth exterior and lift it up", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Raise and hold the smooth gray kitchenpot together", + "Engage arms to grip and lift the metal kitchenpot.", + "Carry the dark gray stove kitchenpot securely using arms", + "Use both arms to raise the metal kitchenpot", + "Raise the medium kitchenpot made of metal with strong support", + "Hold the medium-sized kitchenpot firmly and lift it", + "Raise the cylindrical kitchenpot upward with both hands", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Secure the smooth gray kitchenpot and lift upward.", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Bring the dark gray stove kitchenpot upwards together", + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Raise the gray kitchenpot together with arms", + "Grab the smooth gray kitchenpot and lift it up", + "Hold the dark gray stove kitchenpot with both arms", + "Hold the gray kitchenpot firmly, then lift.", + "Lift the cylindrical kitchenpot steadily using arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Securely lift the metal kitchenpot together", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Both arms lift the smooth gray kitchenpot upright", + "Raise the gray kitchenpot steadily using arms", + "Hold and raise the cylindrical kitchenpot together", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Bring the dark gray stove kitchenpot up together", + "Raise the metal kitchenpot together using arms", + "Hold the gray kitchenpot and lift upward", + "Pick up the dark gray stove kitchenpot with both arms", + "Place hands on the round kitchenpot with handles, then lift.", + "Grasp the round kitchenpot with handles and elevate together.", + "Lift the round kitchenpot with handles steadily with support", + "Lift the gray kitchenpot up using your arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Lift the metal kitchenpot up together", + "Support the round kitchenpot with handles and raise it upward", + "Hold the gray kitchenpot firmly with arms", + "Grab the smooth gray kitchenpot using both arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Pick up the smooth gray kitchenpot with careful lifting", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Raise the gray kitchenpot securely with arms", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Grab the medium kitchenpot made of metal and lift together", + "Secure the medium-sized kitchenpot and lift it up", + "Lift the round kitchenpot with handles carefully using both arms.", + "Raise and hold the smooth gray kitchenpot together", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Carry the gray kitchenpot securely using arms", + "Use both arms to raise the gray kitchenpot", + "Raise the medium-sized kitchenpot with strong support", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Secure the dark gray stove kitchenpot and lift upward.", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Raise the round kitchenpot with handles using both arms", + "Bring the smooth gray kitchenpot upwards together", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the medium kitchenpot made of metal using both arms now.", + "Raise the cylindrical kitchenpot together with arms", + "Grab the gray kitchenpot and lift it up", + "Hold the medium-sized kitchenpot with both arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Lift the gray kitchenpot upwards with care", + "Securely lift the round kitchenpot with handles together", + "Use both arms to raise the dark gray stove kitchenpot.", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Both arms lift the kitchenpot with smooth exterior upright", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Hold and raise the round kitchenpot with handles together", + "Take hold of the metal kitchenpot and lift up", + "Bring the medium kitchenpot made of metal up together", + "Raise the gray kitchenpot together using arms", + "Hold the kitchenpot with smooth exterior and lift upward", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Grasp the gray kitchenpot and elevate together.", + "Lift the kitchenpot with smooth exterior steadily with support", + "Lift the medium-sized kitchenpot up using your arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Lift the gray cylindrical metal kitchenpot up together", + "Support the gray kitchenpot and raise it upward", + "Hold the smooth gray kitchenpot firmly with arms", + "Grab the gray kitchenpot using both arms", + "Lift the smooth gray kitchenpot upward with both arms", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Raise the kitchenpot with smooth exterior securely with arms", + "Lift the dark gray stove kitchenpot upward and hold it", + "Grip the gray cylindrical metal kitchenpot firmly and lift" + ], + "unseen": [ + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode26.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..38a7b8b7279cb5925a21059b48d194df3155a4a7 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use arms to lift the medium-sized kitchenpot upward", + "Grab the medium-sized kitchenpot and lift it upwards", + "Raise the metal kitchenpot upward with both hands", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Raise the smooth gray kitchenpot securely with arms", + "Bring the cylindrical kitchenpot upwards together", + "Raise the gray kitchenpot together using arms", + "Lift the metal kitchenpot using both arms now.", + "Both arms lift the cylindrical kitchenpot upright", + "Hold the metal kitchenpot firmly and lift it", + "Carry the medium kitchenpot made of metal securely using arms", + "Hold the smooth gray kitchenpot with both arms", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the smooth gray kitchenpot together with arms", + "Grab the smooth gray kitchenpot and lift it up", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Grip the dark gray stove kitchenpot firmly and lift", + "Lift the dark gray stove kitchenpot upwards with care", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Hold the gray kitchenpot firmly, then lift.", + "Use both arms to raise the smooth gray kitchenpot.", + "Raise the kitchenpot with smooth exterior using both arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Secure the cylindrical kitchenpot and lift upward.", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Bring the dark gray stove kitchenpot up together", + "Lift the smooth gray kitchenpot steadily using arms", + "Use both arms to raise the gray kitchenpot", + "Raise the cylindrical kitchenpot evenly with arms", + "Lift the smooth gray kitchenpot upward with both arms", + "Lift the medium kitchenpot made of metal up using your arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Raise the medium-sized kitchenpot with strong support", + "Grab the smooth gray kitchenpot using both arms", + "Hold the dark gray stove kitchenpot and lift upward", + "Raise and hold the cooking kitchenpot with side grips together", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Raise the medium kitchenpot made of metal steadily using arms", + "Hold the medium-sized kitchenpot firmly with arms", + "Securely lift the medium-sized kitchenpot together", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Place hands on the metal kitchenpot, then lift.", + "Lift the smooth gray kitchenpot up together", + "Pick up the medium kitchenpot made of metal with both arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Grab the kitchenpot for boiling and cooking and lift together", + "Hold and raise the kitchenpot with smooth exterior together", + "Use arms to lift the dark gray stove kitchenpot upward", + "Grab the medium-sized kitchenpot and lift it upwards", + "Raise the medium-sized kitchenpot upward with both hands", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Bring the medium kitchenpot made of metal upwards together", + "Raise the round kitchenpot with handles together using arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Both arms lift the round kitchenpot with handles upright", + "Hold the medium-sized kitchenpot firmly and lift it", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Hold the dark gray stove kitchenpot with both arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Hold and raise the metal kitchenpot together", + "Raise the round kitchenpot with handles together with arms", + "Grab the cooking kitchenpot with side grips and lift it up", + "Pick up the round kitchenpot with handles with careful lifting", + "Grip the round kitchenpot with handles firmly and lift", + "Lift the medium-sized kitchenpot upwards with care", + "Lift the kitchenpot with smooth exterior steadily with support", + "Hold the metal kitchenpot firmly, then lift.", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Raise the smooth gray kitchenpot using both arms", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Support the smooth gray kitchenpot and raise it upward", + "Secure the gray kitchenpot and lift upward.", + "Grasp the round kitchenpot with handles and elevate together.", + "Bring the gray kitchenpot up together", + "Lift the medium-sized kitchenpot steadily using arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "Raise the smooth gray kitchenpot evenly with arms", + "Lift the round kitchenpot with handles upward with both arms", + "Lift the dark gray stove kitchenpot up using your arms", + "Lift the gray kitchenpot upward and hold it", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Grab the round kitchenpot with handles using both arms", + "Hold the cylindrical kitchenpot and lift upward", + "Raise and hold the medium-sized kitchenpot together", + "Secure the metal kitchenpot and lift it up", + "Raise the gray kitchenpot steadily using arms", + "Hold the dark gray stove kitchenpot firmly with arms", + "Securely lift the medium-sized kitchenpot together", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Place hands on the medium-sized kitchenpot, then lift.", + "Lift the round kitchenpot with handles up together", + "Pick up the cylindrical kitchenpot with both arms", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Hold and raise the kitchenpot with smooth exterior together" + ], + "unseen": [ + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode27.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..5013d26ab278fe093609cdc7d52e9717607afd5e --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use both arms to raise the kitchenpot for boiling and cooking", + "Raise and hold the kitchenpot with smooth exterior together", + "Grab the cylindrical kitchenpot using both arms", + "Lift the metal kitchenpot carefully using both arms.", + "Hold the kitchenpot with smooth exterior with both arms", + "Grab the kitchenpot for boiling and cooking and lift together", + "Bring the medium kitchenpot made of metal upwards together", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Lift the medium kitchenpot made of metal upwards with care", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Raise the cylindrical kitchenpot upward with both hands", + "Carry the cylindrical kitchenpot securely using arms", + "Take hold of the round kitchenpot with handles and lift up", + "Raise the round kitchenpot with handles using both arms", + "Lift the cylindrical kitchenpot up together", + "Support the gray kitchenpot and raise it upward", + "Grab the smooth gray kitchenpot and lift it upwards", + "Lift the cylindrical kitchenpot upward with both arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Grip the smooth gray kitchenpot firmly and lift", + "Lift the gray kitchenpot steadily using arms", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Hold the round kitchenpot with handles firmly, then lift.", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Use arms to lift the dark gray stove kitchenpot upward", + "Raise the kitchenpot for boiling and cooking with strong support", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Hold the smooth gray kitchenpot and lift upward", + "Secure the dark gray stove kitchenpot and lift upward.", + "Lift the smooth gray kitchenpot steadily with support", + "Pick up the cylindrical kitchenpot with both arms", + "Lift the dark gray stove kitchenpot up using your arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Grab the round kitchenpot with handles and lift it up", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Raise the smooth gray kitchenpot securely with arms", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Raise the cooking kitchenpot with side grips together with arms", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Securely lift the cylindrical kitchenpot together", + "Raise the medium kitchenpot made of metal together using arms", + "Bring the smooth gray kitchenpot up together", + "Lift the dark gray stove kitchenpot using both arms now.", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Lift the round kitchenpot with handles carefully using arms", + "Use both arms to raise the gray kitchenpot", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Grab the metal kitchenpot using both arms", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Hold the medium kitchenpot made of metal with both arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Bring the medium-sized kitchenpot upwards together", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Lift the metal kitchenpot upwards with care", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Raise the round kitchenpot with handles upward with both hands", + "Carry the medium-sized kitchenpot securely using arms", + "Take hold of the cylindrical kitchenpot and lift up", + "Raise the medium-sized kitchenpot using both arms", + "Lift the smooth gray kitchenpot up together", + "Support the medium kitchenpot made of metal and raise it upward", + "Grab the smooth gray kitchenpot and lift it upwards", + "Lift the medium kitchenpot made of metal upward with both arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Lift the metal kitchenpot steadily using arms", + "Secure the gray kitchenpot and lift it up", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Both arms lift the medium-sized kitchenpot upright", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Raise the kitchenpot with smooth exterior with strong support", + "Use both arms to raise the smooth gray kitchenpot.", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Hold the round kitchenpot with handles and lift upward", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Lift the round kitchenpot with handles steadily with support", + "Pick up the gray kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Hold and raise the smooth gray kitchenpot together", + "Grab the kitchenpot with smooth exterior and lift it up", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Hold the round kitchenpot with handles firmly with arms", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Raise the cylindrical kitchenpot together with arms", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Securely lift the kitchenpot for boiling and cooking together", + "Raise the kitchenpot with smooth exterior together using arms", + "Bring the cylindrical kitchenpot up together", + "Lift the dark gray stove kitchenpot using both arms now.", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Lift the gray kitchenpot carefully using arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode28.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..b08757756fda4fe38c0bebbfce32cea3fd21163d --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the medium-sized kitchenpot upward with both hands", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Raise the cylindrical kitchenpot evenly with arms", + "Grab the cooking kitchenpot with side grips and lift together", + "Raise the kitchenpot with smooth exterior together using arms", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Support the smooth gray kitchenpot and raise it upward", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Grip the medium-sized kitchenpot firmly and lift", + "Use both arms to raise the dark gray stove kitchenpot.", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Raise the metal kitchenpot securely with arms", + "Secure the dark gray stove kitchenpot and lift upward.", + "Use both arms to raise the dark gray stove kitchenpot", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the metal kitchenpot firmly and move upward.", + "Hold and raise the medium kitchenpot made of metal together", + "Grab the kitchenpot with smooth exterior using both arms", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Hold the cylindrical kitchenpot firmly and lift it", + "Raise the medium-sized kitchenpot using both arms", + "Carry the medium-sized kitchenpot securely using arms", + "Bring the kitchenpot with smooth exterior up together", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Both arms lift the kitchenpot with smooth exterior upright", + "Lift the smooth gray kitchenpot steadily using arms", + "Securely lift the medium-sized kitchenpot together", + "Hold the medium kitchenpot made of metal with both arms", + "Raise the smooth gray kitchenpot steadily using arms", + "Grasp the round kitchenpot with handles and elevate together.", + "Hold the dark gray stove kitchenpot firmly with arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Lift the kitchenpot with smooth exterior upwards with care", + "Raise and hold the smooth gray kitchenpot together", + "Lift the smooth gray kitchenpot up together", + "Hold and raise the cylindrical kitchenpot together", + "Hold the cylindrical kitchenpot and lift upward", + "Lift the medium-sized kitchenpot carefully using arms", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Secure the cooking kitchenpot with side grips and lift it up", + "Lift the gray kitchenpot up using your arms", + "Lift the cylindrical kitchenpot upward and hold it", + "Pick up the metal kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Grab the smooth gray kitchenpot and lift it up", + "Raise the cylindrical kitchenpot together with arms", + "Raise the metal kitchenpot upward with both hands", + "Pick up the gray kitchenpot with careful lifting", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Grab the kitchenpot for boiling and cooking and lift together", + "Raise the cylindrical kitchenpot together using arms", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Raise the round kitchenpot with handles with strong support", + "Support the medium-sized kitchenpot and raise it upward", + "Engage arms to grip and lift the metal kitchenpot.", + "Grip the smooth gray kitchenpot firmly and lift", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Raise the cylindrical kitchenpot securely with arms", + "Secure the metal kitchenpot and lift upward.", + "Use both arms to raise the cylindrical kitchenpot", + "Use arms to lift the medium kitchenpot made of metal upward", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Hold and raise the cooking kitchenpot with side grips together", + "Grab the cooking kitchenpot with side grips using both arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Raise the dark gray stove kitchenpot using both arms", + "Carry the medium-sized kitchenpot securely using arms", + "Bring the metal kitchenpot up together", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Both arms lift the smooth gray kitchenpot upright", + "Lift the smooth gray kitchenpot steadily using arms", + "Securely lift the metal kitchenpot together", + "Hold the round kitchenpot with handles with both arms", + "Raise the medium kitchenpot made of metal steadily using arms", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Hold the gray kitchenpot firmly with arms", + "Bring the cooking kitchenpot with side grips upwards together", + "Place hands on the round kitchenpot with handles, then lift.", + "Lift the cooking kitchenpot with side grips upwards with care", + "Raise and hold the metal kitchenpot together", + "Lift the kitchenpot with smooth exterior up together", + "Hold and raise the medium-sized kitchenpot together", + "Hold the round kitchenpot with handles and lift upward", + "Lift the round kitchenpot with handles carefully using arms", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Secure the medium-sized kitchenpot and lift it up", + "Lift the cooking kitchenpot with side grips up using your arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Pick up the cooking kitchenpot with side grips with both arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Take hold of the dark gray stove kitchenpot and lift up", + "Grab the cylindrical kitchenpot and lift it up", + "Raise the gray cylindrical metal kitchenpot together with arms" + ], + "unseen": [ + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode29.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..b0820eb533a8fede3f3ff49411e05fbbce84c851 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Raise and hold the dark gray stove kitchenpot together", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Lift the medium kitchenpot made of metal upwards with care", + "Both arms lift the metal kitchenpot upright", + "Lift the dark gray stove kitchenpot steadily using arms", + "Use both arms to raise the round kitchenpot with handles.", + "Support the kitchenpot with smooth exterior and raise it upward", + "Bring the gray cylindrical metal kitchenpot up together", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Pick up the cylindrical kitchenpot with careful lifting", + "Raise the cooking kitchenpot with side grips together using arms", + "Lift the medium kitchenpot made of metal upward and hold it", + "Carry the smooth gray kitchenpot securely using arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Secure the cylindrical kitchenpot and lift it up", + "Lift the metal kitchenpot carefully using both arms.", + "Hold and raise the metal kitchenpot together", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Grab the medium kitchenpot made of metal and lift it up", + "Pick up the kitchenpot with smooth exterior with both arms", + "Lift the dark gray stove kitchenpot steadily with support", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Use both arms to raise the medium kitchenpot made of metal", + "Raise the kitchenpot with smooth exterior with strong support", + "With arms, raise the metal kitchenpot upward slowly.", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Raise the round kitchenpot with handles securely with arms", + "Hold the dark gray stove kitchenpot firmly with arms", + "Grab the cylindrical kitchenpot and lift together", + "Grab the kitchenpot for boiling and cooking using both arms", + "Hold and raise the gray kitchenpot together", + "Bring the medium-sized kitchenpot upwards together", + "Hold the cooking kitchenpot with side grips and lift upward", + "Hold the metal kitchenpot with both arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Raise the round kitchenpot with handles using both arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Securely lift the medium-sized kitchenpot together", + "Hold the round kitchenpot with handles firmly and move upward.", + "Lift the kitchenpot for boiling and cooking up together", + "Lift the metal kitchenpot using both arms now.", + "Lift the dark gray stove kitchenpot upward with both arms", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Hold the gray kitchenpot firmly and lift it", + "Use arms to lift the smooth gray kitchenpot upward", + "Raise the metal kitchenpot steadily using arms", + "Engage arms to grip and lift the gray kitchenpot.", + "Raise and hold the gray kitchenpot together", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Lift the cylindrical kitchenpot upwards with care", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Lift the cylindrical kitchenpot steadily using arms", + "Use both arms to raise the medium kitchenpot made of metal.", + "Support the cooking kitchenpot with side grips and raise it upward", + "Bring the medium-sized kitchenpot up together", + "Secure the cylindrical kitchenpot and lift upward.", + "Pick up the gray kitchenpot with careful lifting", + "Raise the cylindrical kitchenpot together using arms", + "Lift the round kitchenpot with handles upward and hold it", + "Carry the cylindrical kitchenpot securely using arms", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Secure the cooking kitchenpot with side grips and lift it up", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Hold and raise the gray kitchenpot together", + "Raise the cooking kitchenpot with side grips together with arms", + "Lift the medium-sized kitchenpot up using your arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Pick up the metal kitchenpot with both arms", + "Lift the medium-sized kitchenpot steadily with support", + "Lift the medium kitchenpot made of metal carefully using arms", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Raise the cylindrical kitchenpot with strong support", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Raise the gray kitchenpot securely with arms", + "Hold the round kitchenpot with handles firmly with arms", + "Grab the metal kitchenpot and lift together", + "Grab the dark gray stove kitchenpot using both arms", + "Hold and raise the metal kitchenpot together", + "Bring the round kitchenpot with handles upwards together", + "Hold the dark gray stove kitchenpot and lift upward", + "Hold the gray kitchenpot with both arms", + "Grip the metal kitchenpot firmly and lift", + "Raise the gray kitchenpot using both arms", + "Raise the smooth gray kitchenpot evenly with arms", + "Securely lift the medium-sized kitchenpot together", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Lift the medium kitchenpot made of metal up together", + "Lift the dark gray stove kitchenpot using both arms now.", + "Lift the round kitchenpot with handles upward with both arms", + "Place hands on the metal kitchenpot, then lift.", + "Hold the kitchenpot for boiling and cooking firmly, then lift." + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode3.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..3be89d5a2fe35d535980d0f73fad60043becd8fb --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Both arms lift the kitchenpot for boiling and cooking upright", + "Grab the medium-sized kitchenpot using both arms", + "Bring the smooth gray kitchenpot up together", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the gray kitchenpot upward and hold it", + "Hold and raise the medium kitchenpot made of metal together", + "Take hold of the metal kitchenpot and lift up", + "Lift the round kitchenpot with handles up using your arms", + "Raise the kitchenpot for boiling and cooking using both arms", + "Use both arms to raise the metal kitchenpot", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Lift the gray kitchenpot steadily with support", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Use both arms to raise the gray kitchenpot.", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Hold the round kitchenpot with handles firmly and lift it", + "Raise the round kitchenpot with handles evenly with arms", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Grab the smooth gray kitchenpot and lift it up", + "Lift the gray kitchenpot upward with both arms", + "Securely lift the kitchenpot for boiling and cooking together", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Lift the medium kitchenpot made of metal up together", + "Lift the round kitchenpot with handles using both arms now.", + "Bring the kitchenpot with smooth exterior upwards together", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Use arms to lift the gray kitchenpot upward", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Raise and hold the round kitchenpot with handles together", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Pick up the gray kitchenpot with both arms", + "Lift the round kitchenpot with handles steadily using arms", + "Secure the metal kitchenpot and lift upward.", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Hold the medium-sized kitchenpot firmly with arms", + "Hold the round kitchenpot with handles with both arms", + "Place hands on the smooth gray kitchenpot, then lift.", + "Raise the metal kitchenpot with strong support", + "Raise the round kitchenpot with handles together using arms", + "Carry the dark gray stove kitchenpot securely using arms", + "Raise the kitchenpot for boiling and cooking together with arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Engage arms to grip and lift the metal kitchenpot.", + "Hold the dark gray stove kitchenpot and lift upward", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Grab the cylindrical kitchenpot and lift together", + "Lift the smooth gray kitchenpot upwards with care", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Bring the round kitchenpot with handles up together", + "Hold and raise the cooking kitchenpot with side grips together", + "Lift the dark gray stove kitchenpot upward and hold it", + "Hold and raise the kitchenpot with smooth exterior together", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Lift the dark gray stove kitchenpot up using your arms", + "Raise the cooking kitchenpot with side grips using both arms", + "Use both arms to raise the smooth gray kitchenpot", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Lift the round kitchenpot with handles steadily with support", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Pick up the cylindrical kitchenpot with careful lifting", + "Hold the metal kitchenpot firmly and lift it", + "Raise the smooth gray kitchenpot evenly with arms", + "Grip the gray kitchenpot firmly and lift", + "Grab the kitchenpot with smooth exterior and lift it up", + "Lift the round kitchenpot with handles upward with both arms", + "Securely lift the gray kitchenpot together", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Lift the dark gray stove kitchenpot up together", + "Lift the cylindrical kitchenpot using both arms now.", + "Bring the metal kitchenpot upwards together", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Use arms to lift the medium-sized kitchenpot upward", + "Raise the medium-sized kitchenpot securely with arms", + "Raise and hold the metal kitchenpot together", + "Lift the round kitchenpot with handles carefully using arms", + "Pick up the dark gray stove kitchenpot with both arms", + "Lift the cylindrical kitchenpot steadily using arms", + "Secure the medium kitchenpot made of metal and lift upward.", + "Hold the gray kitchenpot firmly, then lift.", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Hold the metal kitchenpot with both arms", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Raise the smooth gray kitchenpot with strong support", + "Raise the metal kitchenpot together using arms", + "Carry the gray kitchenpot securely using arms", + "Raise the metal kitchenpot together with arms", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Grab the cylindrical kitchenpot and lift it upwards", + "Secure the gray kitchenpot and lift it up", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Engage arms to grip and lift the metal kitchenpot.", + "Hold the gray kitchenpot and lift upward", + "Raise the cylindrical kitchenpot steadily using arms", + "Grab the cylindrical kitchenpot and lift together", + "Lift the kitchenpot with smooth exterior upwards with care" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode30.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..3c00546f1b5fa74296184f2cc84ae9fd9c2c3d86 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the gray kitchenpot with both arms", + "Grab the dark gray stove kitchenpot and lift it up", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Use arms to lift the medium kitchenpot made of metal upward", + "Raise the kitchenpot for boiling and cooking together with arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Hold the medium-sized kitchenpot firmly and lift it", + "Hold the metal kitchenpot firmly with arms", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Grip the dark gray stove kitchenpot firmly and lift", + "Lift the gray kitchenpot up together", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Securely lift the kitchenpot with smooth exterior together", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Raise the medium kitchenpot made of metal evenly with arms", + "Raise and hold the cooking kitchenpot with side grips together", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Lift the medium-sized kitchenpot upwards with care", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Both arms lift the cooking kitchenpot with side grips upright", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Grab the round kitchenpot with handles using both arms", + "Hold the kitchenpot with smooth exterior and lift upward", + "Bring the dark gray stove kitchenpot up together", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Hold and raise the kitchenpot for boiling and cooking together", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Pick up the cooking kitchenpot with side grips with both arms", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Raise the medium-sized kitchenpot securely with arms", + "Hold the metal kitchenpot firmly, then lift.", + "Secure the smooth gray kitchenpot and lift upward.", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Raise the cooking kitchenpot with side grips together using arms", + "Use both arms to raise the gray kitchenpot", + "Lift the cylindrical kitchenpot upward with both arms", + "Raise the medium kitchenpot made of metal using both arms", + "Lift the cooking kitchenpot with side grips up using your arms", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Carry the medium-sized kitchenpot securely using arms", + "Grab the medium-sized kitchenpot and lift it upwards", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Use both arms to raise the round kitchenpot with handles.", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Bring the medium kitchenpot made of metal upwards together", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Lift the medium kitchenpot made of metal steadily with support", + "Hold the cooking kitchenpot with side grips with both arms", + "Grab the cooking kitchenpot with side grips and lift it up", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Raise the gray cylindrical metal kitchenpot together with arms", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Hold the smooth gray kitchenpot firmly with arms", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Grip the cylindrical kitchenpot firmly and lift", + "Lift the medium-sized kitchenpot up together", + "Lift the round kitchenpot with handles carefully using both arms.", + "Securely lift the metal kitchenpot together", + "Lift the round kitchenpot with handles upward and hold it", + "Take hold of the smooth gray kitchenpot and lift up", + "Hold the metal kitchenpot firmly and move upward.", + "Raise the smooth gray kitchenpot evenly with arms", + "Raise and hold the cylindrical kitchenpot together", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Raise the dark gray stove kitchenpot with strong support", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Lift the metal kitchenpot steadily using arms", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Grasp the gray kitchenpot and elevate together.", + "Grab the metal kitchenpot using both arms", + "Hold the smooth gray kitchenpot and lift upward", + "Bring the round kitchenpot with handles up together", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Hold and raise the kitchenpot with smooth exterior together", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Pick up the dark gray stove kitchenpot with both arms", + "Secure the round kitchenpot with handles and lift it up", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Raise the gray kitchenpot upward with both hands", + "Raise the gray kitchenpot together using arms", + "Use both arms to raise the gray kitchenpot", + "Lift the metal kitchenpot upward with both arms", + "Raise the metal kitchenpot using both arms", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Pick up the medium-sized kitchenpot with careful lifting", + "Carry the dark gray stove kitchenpot securely using arms", + "Grab the round kitchenpot with handles and lift it upwards", + "Raise the gray kitchenpot steadily using arms", + "Use both arms to raise the metal kitchenpot.", + "Lift the metal kitchenpot carefully using arms", + "Bring the medium kitchenpot made of metal upwards together", + "Place hands on the gray kitchenpot, then lift.", + "Lift the gray kitchenpot steadily with support" + ], + "unseen": [ + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode31.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..b5d7d4255082ae13f5d45bf32e345fa63e0cf43a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and raise the gray kitchenpot together", + "Raise the cylindrical kitchenpot using both arms", + "Raise the smooth gray kitchenpot together with arms", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Bring the medium kitchenpot made of metal upwards together", + "Pick up the medium-sized kitchenpot with careful lifting", + "Use both arms to raise the smooth gray kitchenpot.", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Lift the smooth gray kitchenpot upward and hold it", + "Grab the gray kitchenpot and lift it upwards", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Use both arms to raise the medium-sized kitchenpot", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Raise the dark gray stove kitchenpot securely with arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Lift the cooking kitchenpot with side grips up using your arms", + "Lift the cylindrical kitchenpot upward with both arms", + "Grab the gray kitchenpot and lift together", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Lift the kitchenpot with smooth exterior upwards with care", + "Raise and hold the medium-sized kitchenpot together", + "Raise the round kitchenpot with handles steadily using arms", + "Bring the gray kitchenpot up together", + "Grab the smooth gray kitchenpot and lift it up", + "Grip the metal kitchenpot firmly and lift", + "Lift the smooth gray kitchenpot steadily with support", + "Pick up the dark gray stove kitchenpot with both arms", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Hold the kitchenpot for boiling and cooking with both arms", + "Hold the smooth gray kitchenpot and lift upward", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Raise the medium kitchenpot made of metal evenly with arms", + "Lift the dark gray stove kitchenpot using both arms now.", + "Raise the cylindrical kitchenpot together using arms", + "Grab the medium-sized kitchenpot using both arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Securely lift the gray cylindrical metal kitchenpot together", + "Secure the medium kitchenpot made of metal and lift upward.", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Raise the cooking kitchenpot with side grips with strong support", + "Hold and raise the kitchenpot for boiling and cooking together", + "Lift the medium-sized kitchenpot up together", + "Use arms to lift the smooth gray kitchenpot upward", + "Hold the medium-sized kitchenpot firmly and lift it", + "Support the medium-sized kitchenpot and raise it upward", + "Carry the round kitchenpot with handles securely using arms", + "Both arms lift the cooking kitchenpot with side grips upright", + "Hold and raise the smooth gray kitchenpot together", + "Raise the cylindrical kitchenpot using both arms", + "Raise the cylindrical kitchenpot together with arms", + "Place hands on the metal kitchenpot, then lift.", + "Bring the kitchenpot for boiling and cooking upwards together", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Use both arms to raise the smooth gray kitchenpot.", + "Lift the gray kitchenpot carefully using arms", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Grab the round kitchenpot with handles and lift it upwards", + "Secure the cylindrical kitchenpot and lift it up", + "Use both arms to raise the cooking kitchenpot with side grips", + "Grasp the medium-sized kitchenpot and elevate together.", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Raise the dark gray stove kitchenpot securely with arms", + "Raise the cylindrical kitchenpot upward with both hands", + "Lift the kitchenpot with smooth exterior up using your arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Grab the medium kitchenpot made of metal and lift together", + "Engage arms to grip and lift the gray kitchenpot.", + "Lift the round kitchenpot with handles upwards with care", + "Raise and hold the cylindrical kitchenpot together", + "Raise the metal kitchenpot steadily using arms", + "Bring the medium kitchenpot made of metal up together", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Lift the dark gray stove kitchenpot steadily with support", + "Pick up the kitchenpot with smooth exterior with both arms", + "Take hold of the cylindrical kitchenpot and lift up", + "Hold the round kitchenpot with handles with both arms", + "Hold the metal kitchenpot and lift upward", + "Hold the dark gray stove kitchenpot firmly with arms", + "Lift the cylindrical kitchenpot steadily using arms", + "Raise the metal kitchenpot evenly with arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Raise the cooking kitchenpot with side grips together using arms", + "Grab the metal kitchenpot using both arms", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Securely lift the kitchenpot with smooth exterior together", + "Secure the cooking kitchenpot with side grips and lift upward.", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Hold and raise the cylindrical kitchenpot together", + "Lift the metal kitchenpot up together", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Hold the smooth gray kitchenpot firmly and lift it", + "Support the gray kitchenpot and raise it upward", + "Carry the medium kitchenpot made of metal securely using arms", + "Both arms lift the kitchenpot with smooth exterior upright" + ], + "unseen": [ + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode32.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..d0ca2f0af53146ca8027fe8e9a4b69feace8f732 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the kitchenpot with smooth exterior securely with arms", + "Hold and raise the gray kitchenpot together", + "Hold and raise the round kitchenpot with handles together", + "Raise the cooking kitchenpot with side grips together with arms", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Hold the smooth gray kitchenpot firmly and lift it", + "Bring the dark gray stove kitchenpot upwards together", + "Raise the smooth gray kitchenpot using both arms", + "Secure the kitchenpot with smooth exterior and lift it up", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Raise the medium-sized kitchenpot evenly with arms", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Hold the medium-sized kitchenpot with both arms", + "Hold the gray kitchenpot firmly with arms", + "Raise and hold the dark gray stove kitchenpot together", + "Use both arms to raise the metal kitchenpot", + "Place hands on the medium-sized kitchenpot, then lift.", + "Secure the smooth gray kitchenpot and lift upward.", + "Raise the kitchenpot with smooth exterior together using arms", + "Both arms lift the kitchenpot with smooth exterior upright", + "Lift the metal kitchenpot carefully using arms", + "Lift the smooth gray kitchenpot up using your arms", + "Raise the dark gray stove kitchenpot upward with both hands", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Pick up the cylindrical kitchenpot with careful lifting", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Lift the dark gray stove kitchenpot upwards with care", + "Hold the cooking kitchenpot with side grips and lift upward", + "Lift the medium-sized kitchenpot up together", + "Grab the smooth gray kitchenpot using both arms", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Lift the dark gray stove kitchenpot upward with both arms", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Raise the medium-sized kitchenpot steadily using arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Grab the round kitchenpot with handles and lift together", + "Support the smooth gray kitchenpot and raise it upward", + "Bring the cylindrical kitchenpot up together", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Pick up the gray kitchenpot with both arms", + "Grasp the gray kitchenpot and elevate together.", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Lift the round kitchenpot with handles steadily with support", + "Carry the kitchenpot with smooth exterior securely using arms", + "Securely lift the gray kitchenpot together", + "Raise the kitchenpot with smooth exterior securely with arms", + "Hold and raise the medium kitchenpot made of metal together", + "Hold and raise the medium kitchenpot made of metal together", + "Raise the gray kitchenpot together with arms", + "Grip the medium-sized kitchenpot firmly and lift", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Bring the cooking kitchenpot with side grips upwards together", + "Raise the metal kitchenpot using both arms", + "Secure the medium-sized kitchenpot and lift it up", + "Grab the kitchenpot for boiling and cooking and lift it up", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Raise the medium kitchenpot made of metal evenly with arms", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Hold the cooking kitchenpot with side grips with both arms", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Raise and hold the medium kitchenpot made of metal together", + "Use both arms to raise the medium kitchenpot made of metal", + "Place hands on the gray kitchenpot, then lift.", + "Secure the dark gray stove kitchenpot and lift upward.", + "Raise the metal kitchenpot together using arms", + "Both arms lift the medium-sized kitchenpot upright", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Lift the medium kitchenpot made of metal up using your arms", + "Raise the gray kitchenpot upward with both hands", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Lift the metal kitchenpot upward and hold it", + "Take hold of the metal kitchenpot and lift up", + "Lift the cylindrical kitchenpot upwards with care", + "Hold the smooth gray kitchenpot and lift upward", + "Lift the kitchenpot with smooth exterior up together", + "Grab the dark gray stove kitchenpot using both arms", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Lift the cylindrical kitchenpot using both arms now.", + "Raise the dark gray stove kitchenpot steadily using arms", + "Raise the medium kitchenpot made of metal with strong support", + "Grab the kitchenpot for boiling and cooking and lift together", + "Support the cooking kitchenpot with side grips and raise it upward", + "Bring the gray cylindrical metal kitchenpot up together", + "Lift the gray kitchenpot steadily using arms", + "Hold the metal kitchenpot firmly, then lift.", + "Pick up the smooth gray kitchenpot with both arms", + "Grasp the gray kitchenpot and elevate together.", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Carry the round kitchenpot with handles securely using arms", + "Securely lift the cylindrical kitchenpot together" + ], + "unseen": [ + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode33.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..932c1fe29123ccf74362c0adde455313565a510a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Securely lift the smooth gray kitchenpot together", + "Raise the cooking kitchenpot with side grips with strong support", + "Hold and raise the smooth gray kitchenpot together", + "Lift the medium kitchenpot made of metal upward with both arms", + "Lift the gray kitchenpot carefully using arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Use both arms to raise the medium kitchenpot made of metal.", + "Raise the medium-sized kitchenpot evenly with arms", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Hold the cylindrical kitchenpot firmly with arms", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Lift the metal kitchenpot using both arms now.", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Pick up the smooth gray kitchenpot with both arms", + "Grab the medium-sized kitchenpot and lift it up", + "Take hold of the medium kitchenpot made of metal and lift up", + "Hold the gray kitchenpot and lift upward", + "Lift the medium kitchenpot made of metal up using your arms", + "Support the medium-sized kitchenpot and raise it upward", + "Grasp the gray kitchenpot and elevate together.", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Hold and raise the gray kitchenpot together", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Lift the gray cylindrical metal kitchenpot up together", + "Hold the medium kitchenpot made of metal with both arms", + "Grab the metal kitchenpot and lift together", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Carry the smooth gray kitchenpot securely using arms", + "Bring the cooking kitchenpot with side grips up together", + "Lift the dark gray stove kitchenpot steadily using arms", + "Use both arms to raise the metal kitchenpot", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Raise the medium-sized kitchenpot together with arms", + "Raise the kitchenpot for boiling and cooking together using arms", + "Grab the round kitchenpot with handles using both arms", + "Secure the medium kitchenpot made of metal and lift it up", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Raise the metal kitchenpot securely with arms", + "Bring the metal kitchenpot upwards together", + "Both arms lift the smooth gray kitchenpot upright", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Grip the medium-sized kitchenpot firmly and lift", + "Raise the dark gray stove kitchenpot steadily using arms", + "Raise the cylindrical kitchenpot using both arms", + "Securely lift the gray cylindrical metal kitchenpot together", + "Raise the gray kitchenpot with strong support", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the dark gray stove kitchenpot upward with both arms", + "Lift the medium kitchenpot made of metal carefully using arms", + "Lift the medium kitchenpot made of metal steadily with support", + "Use both arms to raise the cylindrical kitchenpot.", + "Raise the metal kitchenpot evenly with arms", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Pick up the dark gray stove kitchenpot with careful lifting", + "Hold the smooth gray kitchenpot firmly with arms", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Lift the metal kitchenpot using both arms now.", + "Lift the round kitchenpot with handles carefully using both arms.", + "Pick up the round kitchenpot with handles with both arms", + "Grab the round kitchenpot with handles and lift it up", + "Take hold of the medium-sized kitchenpot and lift up", + "Hold the cooking kitchenpot with side grips and lift upward", + "Lift the medium-sized kitchenpot up using your arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Hold and raise the gray kitchenpot together", + "Lift the cylindrical kitchenpot upward and hold it", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Lift the dark gray stove kitchenpot up together", + "Hold the metal kitchenpot with both arms", + "Grab the gray kitchenpot and lift together", + "Use arms to lift the smooth gray kitchenpot upward", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Bring the dark gray stove kitchenpot up together", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Use both arms to raise the metal kitchenpot", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Raise and hold the cylindrical kitchenpot together", + "Lift the kitchenpot with smooth exterior upwards with care", + "Raise the cylindrical kitchenpot together with arms", + "Raise the gray kitchenpot together using arms", + "Grab the kitchenpot for boiling and cooking using both arms", + "Secure the smooth gray kitchenpot and lift it up", + "With arms, raise the metal kitchenpot upward slowly.", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Raise the medium-sized kitchenpot securely with arms", + "Bring the kitchenpot for boiling and cooking upwards together", + "Both arms lift the gray kitchenpot upright", + "Raise the cylindrical kitchenpot upward with both hands", + "Grip the cylindrical kitchenpot firmly and lift", + "Raise the gray kitchenpot steadily using arms", + "Raise the dark gray stove kitchenpot using both arms" + ], + "unseen": [ + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode34.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..992f0633acd8e67d513314bee26ee70be42d86ef --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the medium kitchenpot made of metal up together", + "Lift the medium kitchenpot made of metal steadily using arms", + "Securely lift the medium kitchenpot made of metal together", + "Hold the metal kitchenpot firmly and move upward.", + "Raise and hold the cylindrical kitchenpot together", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Hold the metal kitchenpot firmly with arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Raise the medium-sized kitchenpot securely with arms", + "Lift the cylindrical kitchenpot upward and hold it", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Both arms lift the medium kitchenpot made of metal upright", + "Lift the gray kitchenpot up using your arms", + "Grab the round kitchenpot with handles and lift it up", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Pick up the cylindrical kitchenpot with careful lifting", + "Lift the smooth gray kitchenpot using both arms now.", + "Use arms to lift the medium-sized kitchenpot upward", + "Raise the metal kitchenpot steadily using arms", + "Lift the cylindrical kitchenpot steadily with support", + "Hold the gray kitchenpot firmly, then lift.", + "Bring the smooth gray kitchenpot up together", + "Raise the gray kitchenpot together with arms", + "Raise the cooking kitchenpot with side grips together using arms", + "Grasp the metal kitchenpot and elevate together.", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Secure the kitchenpot with smooth exterior and lift it up", + "Hold the gray kitchenpot with both arms", + "Lift the metal kitchenpot carefully using both arms.", + "Grab the medium-sized kitchenpot and lift together", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Take hold of the gray kitchenpot and lift up", + "With arms, raise the metal kitchenpot upward slowly.", + "Raise the medium kitchenpot made of metal using both arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Secure the medium kitchenpot made of metal and lift upward.", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Bring the cylindrical kitchenpot upwards together", + "Hold the round kitchenpot with handles firmly and lift it", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Raise the gray kitchenpot with strong support", + "Lift the medium kitchenpot made of metal upward with both arms", + "Hold and raise the cylindrical kitchenpot together", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Pick up the medium kitchenpot made of metal with both arms", + "Carry the cylindrical kitchenpot securely using arms", + "Use both arms to raise the gray kitchenpot.", + "Lift the kitchenpot for boiling and cooking up together", + "Lift the round kitchenpot with handles steadily using arms", + "Securely lift the cooking kitchenpot with side grips together", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Raise and hold the metal kitchenpot together", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Hold the cylindrical kitchenpot firmly with arms", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Raise the cooking kitchenpot with side grips securely with arms", + "Lift the round kitchenpot with handles upward and hold it", + "Hold the smooth gray kitchenpot and lift upward", + "Both arms lift the cooking kitchenpot with side grips upright", + "Lift the round kitchenpot with handles up using your arms", + "Grab the smooth gray kitchenpot and lift it up", + "Raise the cylindrical kitchenpot upward with both hands", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Lift the cylindrical kitchenpot using both arms now.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Raise the smooth gray kitchenpot steadily using arms", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Bring the smooth gray kitchenpot up together", + "Raise the cooking kitchenpot with side grips together with arms", + "Raise the medium-sized kitchenpot together using arms", + "Grasp the smooth gray kitchenpot and elevate together.", + "Use both arms to raise the metal kitchenpot", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Secure the dark gray stove kitchenpot and lift it up", + "Hold the medium kitchenpot made of metal with both arms", + "Lift the gray kitchenpot carefully using both arms.", + "Grab the dark gray stove kitchenpot and lift together", + "Support the cooking kitchenpot with side grips and raise it upward", + "Take hold of the round kitchenpot with handles and lift up", + "With arms, raise the metal kitchenpot upward slowly.", + "Raise the metal kitchenpot using both arms", + "Lift the round kitchenpot with handles carefully using arms", + "Secure the cooking kitchenpot with side grips and lift upward.", + "Hold and raise the dark gray stove kitchenpot together", + "Bring the smooth gray kitchenpot upwards together", + "Hold the kitchenpot for boiling and cooking firmly and lift it", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Raise the gray kitchenpot with strong support", + "Lift the gray kitchenpot upward with both arms", + "Hold and raise the round kitchenpot with handles together", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Place hands on the medium-sized kitchenpot, then lift.", + "Grab the medium-sized kitchenpot using both arms", + "Pick up the cooking kitchenpot with side grips with both arms", + "Carry the kitchenpot with smooth exterior securely using arms", + "Use both arms to raise the gray cylindrical metal kitchenpot." + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode35.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..4975755bf07b7bc961f5e46158c040bb32c8d7cf --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the cooking kitchenpot with side grips with both arms", + "Lift the kitchenpot with smooth exterior up together", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Lift the medium-sized kitchenpot up using your arms", + "Bring the gray cylindrical metal kitchenpot upwards together", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Raise the dark gray stove kitchenpot together using arms", + "Lift the smooth gray kitchenpot steadily with support", + "Raise the dark gray stove kitchenpot using both arms", + "Raise the metal kitchenpot evenly with arms", + "Lift the metal kitchenpot steadily using arms", + "Hold the round kitchenpot with handles firmly, then lift.", + "Both arms lift the smooth gray kitchenpot upright", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Grab the cooking kitchenpot with side grips and lift it up", + "Securely lift the cooking kitchenpot with side grips together", + "Place hands on the cylindrical kitchenpot, then lift.", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Raise the medium kitchenpot made of metal together with arms", + "Hold the gray kitchenpot firmly with arms", + "Lift the medium kitchenpot made of metal upwards with care", + "Lift the round kitchenpot with handles using both arms now.", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Grab the medium-sized kitchenpot and lift together", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Secure the kitchenpot with smooth exterior and lift it up", + "Hold the metal kitchenpot firmly and lift it", + "Grab the dark gray stove kitchenpot using both arms", + "Raise the smooth gray kitchenpot securely with arms", + "Use both arms to raise the gray kitchenpot.", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the medium kitchenpot made of metal with strong support", + "Support the smooth gray kitchenpot and raise it upward", + "Use both arms to raise the cylindrical kitchenpot", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Take hold of the gray kitchenpot and lift up", + "Hold the medium-sized kitchenpot and lift upward", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Hold and raise the cylindrical kitchenpot together", + "Raise and hold the round kitchenpot with handles together", + "Pick up the smooth gray kitchenpot with both arms", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Bring the kitchenpot with smooth exterior up together", + "Grip the gray kitchenpot firmly and lift", + "Carry the dark gray stove kitchenpot securely using arms", + "Lift the medium-sized kitchenpot carefully using arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Hold the round kitchenpot with handles with both arms", + "Lift the kitchenpot with smooth exterior up together", + "Use arms to lift the gray kitchenpot upward", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Bring the gray cylindrical metal kitchenpot upwards together", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Raise the medium kitchenpot made of metal together using arms", + "Lift the round kitchenpot with handles steadily with support", + "Raise the dark gray stove kitchenpot using both arms", + "Raise the metal kitchenpot evenly with arms", + "Lift the gray kitchenpot steadily using arms", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Grab the dark gray stove kitchenpot and lift it up", + "Securely lift the kitchenpot for boiling and cooking together", + "Place hands on the medium-sized kitchenpot, then lift.", + "Raise the dark gray stove kitchenpot steadily using arms", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Raise the medium kitchenpot made of metal together with arms", + "Hold the round kitchenpot with handles firmly with arms", + "Lift the dark gray stove kitchenpot upwards with care", + "Lift the gray kitchenpot using both arms now.", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Grab the kitchenpot with smooth exterior and lift together", + "Secure the gray cylindrical metal kitchenpot and lift upward.", + "Secure the metal kitchenpot and lift it up", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Grab the medium kitchenpot made of metal using both arms", + "Raise the medium kitchenpot made of metal securely with arms", + "Use both arms to raise the round kitchenpot with handles.", + "Hold and raise the cylindrical kitchenpot together", + "Raise the dark gray stove kitchenpot with strong support", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Use both arms to raise the kitchenpot with smooth exterior", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Take hold of the round kitchenpot with handles and lift up", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Grab the gray kitchenpot and lift it upwards", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise and hold the kitchenpot for boiling and cooking together", + "Pick up the dark gray stove kitchenpot with both arms", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Bring the cylindrical kitchenpot up together", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Carry the cylindrical kitchenpot securely using arms", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Lift the cooking kitchenpot with side grips upward and hold it" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode36.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..8f7249e63243656c9810e482ad8037af3b064a4c --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the kitchenpot for boiling and cooking with both arms", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Securely lift the medium kitchenpot made of metal together", + "Hold and raise the metal kitchenpot together", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Secure the smooth gray kitchenpot and lift upward.", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Carry the gray kitchenpot securely using arms", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Both arms lift the dark gray stove kitchenpot upright", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Lift the cylindrical kitchenpot steadily with support", + "Grab the smooth gray kitchenpot and lift together", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Bring the medium kitchenpot made of metal upwards together", + "Lift the metal kitchenpot upwards with care", + "Raise the medium kitchenpot made of metal securely with arms", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Use both arms to raise the dark gray stove kitchenpot", + "Use both arms to raise the round kitchenpot with handles.", + "Lift the smooth gray kitchenpot upward and hold it", + "Pick up the medium-sized kitchenpot with both arms", + "Hold the medium-sized kitchenpot and lift upward", + "Bring the kitchenpot with smooth exterior up together", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Raise the gray kitchenpot evenly with arms", + "Raise the gray kitchenpot with strong support", + "Raise the smooth gray kitchenpot together using arms", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Grip the medium-sized kitchenpot firmly and lift", + "Grab the medium-sized kitchenpot using both arms", + "Grab the round kitchenpot with handles and lift it up", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Raise the smooth gray kitchenpot together with arms", + "Raise the round kitchenpot with handles steadily using arms", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Take hold of the cylindrical kitchenpot and lift up", + "Pick up the smooth gray kitchenpot with careful lifting", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Lift the dark gray stove kitchenpot up together", + "Raise the cylindrical kitchenpot upward with both hands", + "Lift the cylindrical kitchenpot steadily using arms", + "Lift the round kitchenpot with handles upward with both arms", + "Raise the kitchenpot for boiling and cooking using both arms", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Lift the round kitchenpot with handles carefully using arms", + "Securely lift the dark gray stove kitchenpot together", + "Hold and raise the medium kitchenpot made of metal together", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Secure the medium kitchenpot made of metal and lift it up", + "Secure the cylindrical kitchenpot and lift upward.", + "Hold the cylindrical kitchenpot firmly and lift it", + "Carry the kitchenpot with smooth exterior securely using arms", + "Support the gray kitchenpot and raise it upward", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Raise and hold the cooking kitchenpot with side grips together", + "Use arms to lift the medium-sized kitchenpot upward", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Grab the cooking kitchenpot with side grips and lift together", + "Lift the dark gray stove kitchenpot using both arms now.", + "Bring the kitchenpot for boiling and cooking upwards together", + "Lift the medium-sized kitchenpot upwards with care", + "Raise the metal kitchenpot securely with arms", + "Lift the smooth gray kitchenpot up using your arms", + "Hold and raise the medium-sized kitchenpot together", + "Use both arms to raise the dark gray stove kitchenpot", + "Use both arms to raise the round kitchenpot with handles.", + "Lift the smooth gray kitchenpot upward and hold it", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Hold the cylindrical kitchenpot and lift upward", + "Bring the smooth gray kitchenpot up together", + "Grab the gray cylindrical metal kitchenpot and lift it upwards", + "Lift the gray kitchenpot carefully using both arms.", + "Raise the medium kitchenpot made of metal evenly with arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Raise the gray cylindrical metal kitchenpot together using arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Grip the metal kitchenpot firmly and lift", + "Grab the kitchenpot with smooth exterior using both arms", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Hold the metal kitchenpot firmly and move upward.", + "Raise the kitchenpot with smooth exterior together with arms", + "Raise the dark gray stove kitchenpot steadily using arms", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Take hold of the dark gray stove kitchenpot and lift up", + "Pick up the round kitchenpot with handles with careful lifting", + "Grasp the cylindrical kitchenpot and elevate together.", + "Lift the medium kitchenpot made of metal up together", + "Raise the metal kitchenpot upward with both hands", + "Lift the gray kitchenpot steadily using arms", + "Lift the smooth gray kitchenpot upward with both arms", + "Raise the kitchenpot for boiling and cooking using both arms" + ], + "unseen": [ + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode37.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..bfa775869fc99017db0ba913b04cf3e2bbb07b05 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use both arms to raise the gray kitchenpot.", + "Hold the medium-sized kitchenpot with both arms", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Raise the smooth gray kitchenpot using both arms", + "Carry the dark gray stove kitchenpot securely using arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Bring the medium kitchenpot made of metal up together", + "Raise the dark gray stove kitchenpot steadily using arms", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Secure the smooth gray kitchenpot and lift it up", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Hold the gray kitchenpot firmly with arms", + "Both arms lift the round kitchenpot with handles upright", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Lift the cooking kitchenpot with side grips upward and hold it", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Use both arms to raise the dark gray stove kitchenpot", + "Hold and raise the kitchenpot for boiling and cooking together", + "Take hold of the smooth gray kitchenpot and lift up", + "Grab the gray kitchenpot and lift it upwards", + "Lift the dark gray stove kitchenpot upwards with care", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Raise the medium-sized kitchenpot with strong support", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Bring the gray kitchenpot upwards together", + "Lift the round kitchenpot with handles up together", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Pick up the metal kitchenpot with both arms", + "Securely lift the medium-sized kitchenpot together", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Raise the smooth gray kitchenpot evenly with arms", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Raise the medium kitchenpot made of metal securely with arms", + "Secure the medium kitchenpot made of metal and lift upward.", + "Lift the smooth gray kitchenpot steadily with support", + "Place hands on the round kitchenpot with handles, then lift.", + "Raise and hold the dark gray stove kitchenpot together", + "Raise the medium-sized kitchenpot together using arms", + "Grab the gray kitchenpot using both arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Hold the round kitchenpot with handles firmly, then lift.", + "Support the round kitchenpot with handles and raise it upward", + "Lift the cylindrical kitchenpot upward with both arms", + "Grab the smooth gray kitchenpot and lift together", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Hold the smooth gray kitchenpot with both arms", + "Grab the cylindrical kitchenpot and lift it up", + "Raise the medium-sized kitchenpot using both arms", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the round kitchenpot with handles carefully using both arms.", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Bring the cylindrical kitchenpot up together", + "Raise the gray kitchenpot steadily using arms", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Lift the cylindrical kitchenpot using both arms now.", + "Hold the round kitchenpot with handles firmly and lift it", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Pick up the round kitchenpot with handles with careful lifting", + "Hold the medium kitchenpot made of metal firmly with arms", + "Both arms lift the smooth gray kitchenpot upright", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Lift the dark gray stove kitchenpot steadily using arms", + "Lift the metal kitchenpot upward and hold it", + "With arms, raise the gray kitchenpot upward slowly.", + "Lift the cylindrical kitchenpot carefully using arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "Hold and raise the dark gray stove kitchenpot together", + "Take hold of the metal kitchenpot and lift up", + "Grab the cylindrical kitchenpot and lift it upwards", + "Lift the cylindrical kitchenpot upwards with care", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Raise the gray kitchenpot with strong support", + "Raise the kitchenpot with smooth exterior together with arms", + "Bring the smooth gray kitchenpot upwards together", + "Lift the cooking kitchenpot with side grips up together", + "Use arms to lift the medium-sized kitchenpot upward", + "Hold and raise the cylindrical kitchenpot together", + "Pick up the medium kitchenpot made of metal with both arms", + "Securely lift the smooth gray kitchenpot together", + "Hold the cylindrical kitchenpot and lift upward", + "Raise the medium kitchenpot made of metal evenly with arms", + "Lift the kitchenpot with smooth exterior up using your arms", + "Raise the cylindrical kitchenpot securely with arms", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Lift the metal kitchenpot steadily with support", + "Place hands on the medium-sized kitchenpot, then lift.", + "Raise and hold the medium-sized kitchenpot together", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Grip the dark gray stove kitchenpot firmly and lift", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Support the cooking kitchenpot with side grips and raise it upward", + "Lift the medium kitchenpot made of metal upward with both arms", + "Grab the kitchenpot with smooth exterior and lift together" + ], + "unseen": [ + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode38.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..e1dbfc907f4afac67815b370d95bb3bdc69bcab4 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the medium kitchenpot made of metal and lift upward.", + "Place hands on the medium-sized kitchenpot, then lift.", + "Grab the cylindrical kitchenpot and lift it up", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Raise and hold the gray cylindrical metal kitchenpot together", + "Lift the dark gray stove kitchenpot steadily using arms", + "Bring the medium kitchenpot made of metal up together", + "Lift the cooking kitchenpot with side grips upwards with care", + "Lift the round kitchenpot with handles carefully using both arms.", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Raise the medium-sized kitchenpot together using arms", + "Securely lift the round kitchenpot with handles together", + "Raise the medium-sized kitchenpot using both arms", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Use both arms to raise the smooth gray kitchenpot", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Hold the kitchenpot with smooth exterior with both arms", + "Hold and raise the gray kitchenpot together", + "Lift the medium kitchenpot made of metal upward with both arms", + "Grip the round kitchenpot with handles firmly and lift", + "Bring the gray kitchenpot upwards together", + "Hold the cylindrical kitchenpot firmly with arms", + "Grab the cooking kitchenpot with side grips using both arms", + "Secure the cylindrical kitchenpot and lift it up", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Pick up the cooking kitchenpot with side grips with both arms", + "Take hold of the cylindrical kitchenpot and lift up", + "Lift the metal kitchenpot steadily with support", + "Use both arms to raise the metal kitchenpot.", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Raise the cylindrical kitchenpot together with arms", + "Raise the dark gray stove kitchenpot steadily using arms", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Lift the metal kitchenpot upward and hold it", + "Both arms lift the smooth gray kitchenpot upright", + "Lift the medium kitchenpot made of metal using both arms now.", + "Lift the smooth gray kitchenpot up together", + "Raise the dark gray stove kitchenpot securely with arms", + "Hold and raise the dark gray stove kitchenpot together", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Carry the metal kitchenpot securely using arms", + "Secure the smooth gray kitchenpot and lift upward.", + "Place hands on the round kitchenpot with handles, then lift.", + "Grab the cylindrical kitchenpot and lift it up", + "Lift the cylindrical kitchenpot up using your arms", + "Support the round kitchenpot with handles and raise it upward", + "Raise the cylindrical kitchenpot evenly with arms", + "Use arms to lift the medium-sized kitchenpot upward", + "Raise and hold the medium-sized kitchenpot together", + "Lift the metal kitchenpot steadily using arms", + "Bring the kitchenpot with smooth exterior up together", + "Lift the cylindrical kitchenpot upwards with care", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Securely lift the kitchenpot with smooth exterior together", + "Raise the dark gray stove kitchenpot using both arms", + "Grab the smooth gray kitchenpot and lift it upwards", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Grab the kitchenpot with smooth exterior and lift together", + "Grasp the medium-sized kitchenpot and elevate together.", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Hold the metal kitchenpot with both arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the gray kitchenpot upward with both arms", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Bring the gray kitchenpot upwards together", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Grab the kitchenpot with smooth exterior using both arms", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Pick up the cylindrical kitchenpot with both arms", + "Take hold of the metal kitchenpot and lift up", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Raise the round kitchenpot with handles together with arms", + "Raise the smooth gray kitchenpot steadily using arms", + "Hold the medium-sized kitchenpot and lift upward", + "Raise the cooking kitchenpot with side grips with strong support", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Lift the cylindrical kitchenpot upward and hold it", + "Both arms lift the medium-sized kitchenpot upright", + "Lift the round kitchenpot with handles using both arms now.", + "Lift the medium-sized kitchenpot up together", + "Raise the gray cylindrical metal kitchenpot securely with arms", + "Hold and raise the smooth gray kitchenpot together", + "Hold the metal kitchenpot firmly, then lift.", + "Carry the cylindrical kitchenpot securely using arms" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode39.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..88bb0b0b291f9ee66c538b4b20cb590c89d81306 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Hold the cylindrical kitchenpot and lift upward", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Grab the round kitchenpot with handles and lift together", + "Raise and hold the round kitchenpot with handles together", + "Grip the round kitchenpot with handles firmly and lift", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Raise the cylindrical kitchenpot securely with arms", + "Bring the smooth gray kitchenpot up together", + "Lift the smooth gray kitchenpot upwards with care", + "Take hold of the medium-sized kitchenpot and lift up", + "Raise the gray kitchenpot together using arms", + "Lift the metal kitchenpot up using your arms", + "Lift the kitchenpot with smooth exterior steadily with support", + "Pick up the medium-sized kitchenpot with both arms", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Grab the medium-sized kitchenpot and lift it up", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Hold and raise the medium-sized kitchenpot together", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Use arms to lift the gray kitchenpot upward", + "Raise the gray kitchenpot together with arms", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Raise the round kitchenpot with handles steadily using arms", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Pick up the smooth gray kitchenpot with careful lifting", + "Securely lift the kitchenpot for boiling and cooking together", + "Hold the metal kitchenpot firmly and lift it", + "Raise the smooth gray kitchenpot using both arms", + "Hold and raise the metal kitchenpot together", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Hold the cylindrical kitchenpot firmly with arms", + "Lift the kitchenpot for boiling and cooking up together", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Lift the gray kitchenpot carefully using arms", + "Both arms lift the cylindrical kitchenpot upright", + "Hold the medium-sized kitchenpot with both arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Bring the medium kitchenpot made of metal upwards together", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Lift the dark gray stove kitchenpot using both arms now.", + "Carry the cylindrical kitchenpot securely using arms", + "Raise the dark gray stove kitchenpot evenly with arms", + "Grab the metal kitchenpot using both arms", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Hold the cylindrical kitchenpot and lift upward", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Grab the metal kitchenpot and lift together", + "Raise and hold the cooking kitchenpot with side grips together", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Raise the round kitchenpot with handles with strong support", + "Raise the cylindrical kitchenpot securely with arms", + "Bring the medium kitchenpot made of metal up together", + "Lift the metal kitchenpot upwards with care", + "Take hold of the cylindrical kitchenpot and lift up", + "Raise the cylindrical kitchenpot together using arms", + "Lift the smooth gray kitchenpot up using your arms", + "Lift the metal kitchenpot steadily with support", + "Pick up the cooking kitchenpot with side grips with both arms", + "Grab the smooth gray kitchenpot and lift it upwards", + "Grab the kitchenpot with smooth exterior and lift it up", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Raise the gray kitchenpot together with arms", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Raise the round kitchenpot with handles steadily using arms", + "Support the round kitchenpot with handles and raise it upward", + "Lift the dark gray stove kitchenpot upward and hold it", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Securely lift the smooth gray kitchenpot together", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Raise the kitchenpot with smooth exterior using both arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Place hands on the smooth gray kitchenpot, then lift.", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Lift the dark gray stove kitchenpot up together", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Lift the cylindrical kitchenpot carefully using arms", + "Both arms lift the cooking kitchenpot with side grips upright", + "Hold the dark gray stove kitchenpot with both arms", + "Engage arms to grip and lift the medium kitchenpot made of metal.", + "Use both arms to raise the round kitchenpot with handles.", + "Secure the medium-sized kitchenpot and lift upward.", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Use both arms to raise the kitchenpot for boiling and cooking", + "Lift the cylindrical kitchenpot using both arms now.", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Grab the round kitchenpot with handles using both arms" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode4.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..7d22c33ab0ad3e36722b71400438850ab754ddf0 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the gray kitchenpot carefully using arms", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Raise the cooking kitchenpot with side grips together using arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Lift the dark gray stove kitchenpot up using your arms", + "Grab the metal kitchenpot using both arms", + "Pick up the cooking kitchenpot with side grips with both arms", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Use both arms to raise the metal kitchenpot.", + "Hold the cylindrical kitchenpot firmly with arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Lift the medium kitchenpot made of metal upwards with care", + "Grasp the medium-sized kitchenpot and elevate together.", + "Support the round kitchenpot with handles and raise it upward", + "Place hands on the dark gray stove kitchenpot, then lift.", + "Securely lift the dark gray stove kitchenpot together", + "Pick up the medium-sized kitchenpot with careful lifting", + "Hold and raise the gray kitchenpot together", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Raise the round kitchenpot with handles with strong support", + "Lift the smooth gray kitchenpot using both arms now.", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Grab the metal kitchenpot and lift it upwards", + "Bring the medium-sized kitchenpot upwards together", + "Both arms lift the medium kitchenpot made of metal upright", + "Raise the dark gray stove kitchenpot using both arms", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the gray kitchenpot upward with both arms", + "Raise and hold the round kitchenpot with handles together", + "Grab the gray kitchenpot and lift together", + "Hold the round kitchenpot with handles with both arms", + "Use both arms to raise the round kitchenpot with handles", + "Hold the round kitchenpot with handles firmly and lift it", + "Raise the cylindrical kitchenpot upward with both hands", + "Lift the kitchenpot for boiling and cooking up together", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Raise the medium-sized kitchenpot securely with arms", + "Bring the dark gray stove kitchenpot up together", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Hold the kitchenpot with smooth exterior and lift upward", + "Lift the dark gray stove kitchenpot steadily using arms", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Lift the metal kitchenpot upward and hold it", + "Lift the cooking kitchenpot with side grips steadily with support", + "Lift the medium-sized kitchenpot carefully using arms", + "Use arms to lift the round kitchenpot with handles upward", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Raise the cylindrical kitchenpot together using arms", + "Hold and raise the kitchenpot with smooth exterior together", + "Engage arms to grip and lift the metal kitchenpot.", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Grab the cooking kitchenpot with side grips using both arms", + "Pick up the gray kitchenpot with both arms", + "Grab the cooking kitchenpot with side grips and lift it up", + "Use both arms to raise the gray kitchenpot.", + "Hold the medium-sized kitchenpot firmly with arms", + "Raise the smooth gray kitchenpot evenly with arms", + "Grip the smooth gray kitchenpot firmly and lift", + "Lift the medium-sized kitchenpot upwards with care", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Support the medium-sized kitchenpot and raise it upward", + "Place hands on the cylindrical kitchenpot, then lift.", + "Securely lift the dark gray stove kitchenpot together", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Hold and raise the dark gray stove kitchenpot together", + "Secure the kitchenpot with smooth exterior and lift it up", + "Raise the dark gray stove kitchenpot with strong support", + "Lift the cylindrical kitchenpot using both arms now.", + "Raise the cooking kitchenpot with side grips together with arms", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Bring the kitchenpot for boiling and cooking upwards together", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Raise the smooth gray kitchenpot using both arms", + "Carry the medium kitchenpot made of metal securely using arms", + "Lift the kitchenpot for boiling and cooking upward with both arms", + "Raise and hold the round kitchenpot with handles together", + "Grab the medium-sized kitchenpot and lift together", + "Hold the dark gray stove kitchenpot with both arms", + "Use both arms to raise the cooking kitchenpot with side grips", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Raise the metal kitchenpot upward with both hands", + "Lift the medium kitchenpot made of metal up together", + "Hold the round kitchenpot with handles firmly, then lift.", + "Raise the kitchenpot for boiling and cooking securely with arms", + "Bring the gray cylindrical metal kitchenpot up together", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Hold the smooth gray kitchenpot and lift upward", + "Lift the dark gray stove kitchenpot steadily using arms", + "Raise the smooth gray kitchenpot steadily using arms", + "Take hold of the round kitchenpot with handles and lift up", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Lift the medium kitchenpot made of metal upward and hold it", + "Lift the gray kitchenpot steadily with support" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode40.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..569c0cd18a225882f9e84084676894b1780fc396 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take hold of the cylindrical kitchenpot and lift up", + "Hold and raise the smooth gray kitchenpot together", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Both arms lift the medium-sized kitchenpot upright", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Bring the round kitchenpot with handles upwards together", + "Raise the metal kitchenpot together using arms", + "Securely lift the smooth gray kitchenpot together", + "Raise the gray kitchenpot upward with both hands", + "Lift the gray kitchenpot up using your arms", + "Hold the gray kitchenpot and lift upward", + "Lift the cylindrical kitchenpot carefully using arms", + "Grab the kitchenpot with smooth exterior and lift it upwards", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Raise the medium kitchenpot made of metal using both arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Grab the kitchenpot with smooth exterior and lift it up", + "Use arms to lift the dark gray stove kitchenpot upward", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Raise and hold the smooth gray kitchenpot together", + "Lift the cooking kitchenpot with side grips up together", + "Grab the smooth gray kitchenpot using both arms", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Grab the cooking kitchenpot with side grips and lift together", + "Lift the smooth gray kitchenpot steadily with support", + "Use both arms to raise the kitchenpot with smooth exterior", + "Hold the smooth gray kitchenpot firmly with arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Grasp the cylindrical kitchenpot and elevate together.", + "Raise the dark gray stove kitchenpot with strong support", + "Place hands on the cylindrical kitchenpot, then lift.", + "Hold and raise the metal kitchenpot together", + "Raise the round kitchenpot with handles together with arms", + "Carry the medium-sized kitchenpot securely using arms", + "Lift the smooth gray kitchenpot steadily using arms", + "Pick up the medium kitchenpot made of metal with both arms", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Raise the metal kitchenpot securely with arms", + "Engage arms to grip and lift the dark gray stove kitchenpot.", + "Hold the smooth gray kitchenpot with both arms", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Support the medium kitchenpot made of metal and raise it upward", + "Secure the metal kitchenpot and lift it up", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Bring the kitchenpot with smooth exterior up together", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Take hold of the gray kitchenpot and lift up", + "Hold and raise the kitchenpot for boiling and cooking together", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Lift the kitchenpot with smooth exterior upwards with care", + "Both arms lift the smooth gray kitchenpot upright", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Bring the medium-sized kitchenpot upwards together", + "Raise the kitchenpot for boiling and cooking together using arms", + "Securely lift the metal kitchenpot together", + "Raise the medium kitchenpot made of metal upward with both hands", + "Lift the metal kitchenpot up using your arms", + "Hold the kitchenpot with smooth exterior and lift upward", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Grab the cylindrical kitchenpot and lift it upwards", + "Pick up the gray kitchenpot with careful lifting", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Raise the kitchenpot with smooth exterior using both arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Raise and hold the cooking kitchenpot with side grips together", + "Lift the metal kitchenpot up together", + "Grab the medium kitchenpot made of metal using both arms", + "Use both arms to raise the medium-sized kitchenpot.", + "Grab the dark gray stove kitchenpot and lift together", + "Lift the cylindrical kitchenpot steadily with support", + "Use both arms to raise the cylindrical kitchenpot", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Raise the medium-sized kitchenpot evenly with arms", + "Secure the dark gray stove kitchenpot and lift upward.", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the kitchenpot with smooth exterior together with arms", + "Carry the dark gray stove kitchenpot securely using arms", + "Lift the gray kitchenpot steadily using arms", + "Pick up the gray kitchenpot with both arms", + "Lift the dark gray stove kitchenpot upward with both arms", + "Lift the round kitchenpot with handles upward and hold it", + "Raise the cylindrical kitchenpot securely with arms", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Hold the cylindrical kitchenpot with both arms", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Secure the gray kitchenpot and lift it up", + "With arms, raise the medium kitchenpot made of metal upward slowly.", + "Bring the medium kitchenpot made of metal up together", + "Raise the cylindrical kitchenpot steadily using arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Use both arms for the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode41.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..af779ee7d2346455e7095ea13bc6de3c509b515f --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the round kitchenpot with handles upward and hold it", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Use arms to lift the round kitchenpot with handles upward", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Carry the smooth gray kitchenpot securely using arms", + "Use both arms to raise the dark gray stove kitchenpot", + "Lift the gray cylindrical metal kitchenpot carefully using arms", + "Grip the gray kitchenpot firmly and lift", + "Raise the cylindrical kitchenpot upward with both hands", + "Lift the metal kitchenpot using both arms now.", + "Secure the cylindrical kitchenpot and lift upward.", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Both arms lift the medium-sized kitchenpot upright", + "Hold and raise the cooking kitchenpot with side grips together", + "Raise the dark gray stove kitchenpot using both arms", + "Raise and hold the metal kitchenpot together", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Raise the dark gray stove kitchenpot evenly with arms", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Raise the gray kitchenpot securely with arms", + "Support the medium-sized kitchenpot and raise it upward", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Bring the metal kitchenpot upwards together", + "Lift the medium-sized kitchenpot steadily with support", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Hold the medium-sized kitchenpot with both arms", + "Lift the cylindrical kitchenpot steadily using arms", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Securely lift the round kitchenpot with handles together", + "Raise the medium-sized kitchenpot together with arms", + "Secure the smooth gray kitchenpot and lift it up", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Grab the kitchenpot for boiling and cooking using both arms", + "Hold and raise the medium kitchenpot made of metal together", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Hold the cylindrical kitchenpot and lift upward", + "Grab the metal kitchenpot and lift together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Bring the smooth gray kitchenpot up together", + "Grasp the medium-sized kitchenpot and elevate together.", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Lift the medium kitchenpot made of metal up using your arms", + "Pick up the metal kitchenpot with careful lifting", + "Pick up the dark gray stove kitchenpot with both arms", + "Hold the metal kitchenpot firmly and lift it", + "Lift the medium kitchenpot made of metal up together", + "With arms, raise the metal kitchenpot upward slowly.", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Carry the medium-sized kitchenpot securely using arms", + "Use both arms to raise the smooth gray kitchenpot", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Grip the metal kitchenpot firmly and lift", + "Raise the dark gray stove kitchenpot upward with both hands", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Secure the dark gray stove kitchenpot and lift upward.", + "Use both arms to raise the medium kitchenpot made of metal.", + "Both arms lift the dark gray stove kitchenpot upright", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise the cooking kitchenpot with side grips using both arms", + "Raise and hold the medium-sized kitchenpot together", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Grab the gray kitchenpot and lift it up", + "Raise the medium kitchenpot made of metal securely with arms", + "Support the round kitchenpot with handles and raise it upward", + "Raise the kitchenpot with smooth exterior together using arms", + "Raise the gray cylindrical metal kitchenpot with strong support", + "Bring the cylindrical kitchenpot upwards together", + "Lift the cooking kitchenpot with side grips steadily with support", + "Hold the smooth gray kitchenpot firmly with arms", + "Hold the kitchenpot for boiling and cooking with both arms", + "Lift the dark gray stove kitchenpot steadily using arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Securely lift the round kitchenpot with handles together", + "Raise the kitchenpot for boiling and cooking together with arms", + "Secure the medium kitchenpot made of metal and lift it up", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Grab the cylindrical kitchenpot using both arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Lift the medium kitchenpot made of metal upwards with care", + "Hold the round kitchenpot with handles and lift upward", + "Grab the medium-sized kitchenpot and lift together", + "Lift the kitchenpot with smooth exterior upward with both arms", + "Bring the smooth gray kitchenpot up together", + "Grasp the medium-sized kitchenpot and elevate together.", + "Take hold of the cylindrical kitchenpot and lift up", + "Lift the metal kitchenpot up using your arms", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Pick up the cooking kitchenpot with side grips with both arms", + "Hold the metal kitchenpot firmly and lift it", + "Lift the gray cylindrical metal kitchenpot up together", + "With arms, raise the gray kitchenpot upward slowly." + ], + "unseen": [ + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode42.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..b6d385d2cea67b105018d6642b0cc2f4ce7bda93 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Raise the gray kitchenpot with strong support", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Raise the kitchenpot for boiling and cooking together with arms", + "Use both arms to raise the medium-sized kitchenpot.", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Raise the gray kitchenpot upward with both hands", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise and hold the gray kitchenpot together", + "Hold and raise the kitchenpot for boiling and cooking together", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Hold the cylindrical kitchenpot and lift upward", + "Bring the kitchenpot with smooth exterior upwards together", + "Lift the medium kitchenpot made of metal up using your arms", + "Raise the medium-sized kitchenpot using both arms", + "Lift the metal kitchenpot carefully using both arms.", + "Bring the round kitchenpot with handles up together", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Pick up the cylindrical kitchenpot with both arms", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "With arms, raise the cooking kitchenpot with side grips upward slowly.", + "Grab the gray kitchenpot and lift it up", + "Lift the medium-sized kitchenpot carefully using arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Grab the dark gray stove kitchenpot and lift together", + "Hold and raise the medium-sized kitchenpot together", + "Grab the gray kitchenpot and lift it upwards", + "Place hands on the gray kitchenpot, then lift.", + "Lift the dark gray stove kitchenpot upwards with care", + "Grip the cylindrical kitchenpot firmly and lift", + "Secure the dark gray stove kitchenpot and lift upward.", + "Hold the kitchenpot with smooth exterior with both arms", + "Raise the round kitchenpot with handles steadily using arms", + "Hold the round kitchenpot with handles firmly, then lift.", + "Pick up the gray kitchenpot with careful lifting", + "Use arms to lift the gray kitchenpot upward", + "Securely lift the medium-sized kitchenpot together", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Lift the cooking kitchenpot with side grips up together", + "Both arms lift the dark gray stove kitchenpot upright", + "Take hold of the smooth gray kitchenpot and lift up", + "Grab the medium-sized kitchenpot using both arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Raise the round kitchenpot with handles securely with arms", + "Raise the cooking kitchenpot with side grips together using arms", + "Secure the cylindrical kitchenpot and lift it up", + "Lift the metal kitchenpot steadily with support", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Use both arms to raise the metal kitchenpot", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Raise the kitchenpot with smooth exterior with strong support", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Use both arms to raise the round kitchenpot with handles.", + "Lift the cylindrical kitchenpot using both arms now.", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Lift the medium-sized kitchenpot upward with both arms", + "Raise and hold the dark gray stove kitchenpot together", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Hold the metal kitchenpot firmly and lift it", + "Hold the medium kitchenpot made of metal and lift upward", + "Bring the smooth gray kitchenpot upwards together", + "Lift the cylindrical kitchenpot up using your arms", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Lift the dark gray stove kitchenpot carefully using both arms.", + "Bring the gray cylindrical metal kitchenpot up together", + "Hold the gray kitchenpot firmly and move upward.", + "Pick up the metal kitchenpot with both arms", + "Carry the medium kitchenpot made of metal securely using arms", + "With arms, raise the metal kitchenpot upward slowly.", + "Grab the round kitchenpot with handles and lift it up", + "Lift the metal kitchenpot carefully using arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Grab the gray kitchenpot and lift together", + "Hold and raise the medium kitchenpot made of metal together", + "Grab the metal kitchenpot and lift it upwards", + "Place hands on the medium-sized kitchenpot, then lift.", + "Lift the medium-sized kitchenpot upwards with care", + "Grip the medium-sized kitchenpot firmly and lift", + "Secure the gray kitchenpot and lift upward.", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Raise the cylindrical kitchenpot steadily using arms", + "Hold the round kitchenpot with handles firmly, then lift.", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Use arms to lift the cylindrical kitchenpot upward", + "Securely lift the medium kitchenpot made of metal together", + "Lift the cylindrical kitchenpot steadily using arms", + "Lift the gray kitchenpot up together", + "Both arms lift the metal kitchenpot upright", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Grab the dark gray stove kitchenpot using both arms", + "Support the round kitchenpot with handles and raise it upward", + "Raise the cylindrical kitchenpot securely with arms", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Secure the cooking kitchenpot with side grips and lift it up", + "Lift the medium kitchenpot made of metal steadily with support", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Use both arms to raise the kitchenpot for boiling and cooking" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode43.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..0b70eaba2de601b86e1253e7baa17507b2be9e74 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the kitchenpot with smooth exterior upwards with care", + "Lift the smooth gray kitchenpot using both arms now.", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Raise the round kitchenpot with handles together with arms", + "Support the gray kitchenpot and raise it upward", + "Grab the cylindrical kitchenpot and lift together", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Lift the gray kitchenpot up using your arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Pick up the medium-sized kitchenpot with both arms", + "Lift the smooth gray kitchenpot up together", + "Grab the gray kitchenpot and lift it upwards", + "With arms, raise the gray kitchenpot upward slowly.", + "Use arms to lift the metal kitchenpot upward", + "Bring the cylindrical kitchenpot upwards together", + "Use both arms to raise the gray kitchenpot", + "Secure the smooth gray kitchenpot and lift upward.", + "Lift the medium-sized kitchenpot steadily using arms", + "Raise the smooth gray kitchenpot steadily using arms", + "Hold the dark gray stove kitchenpot with both arms", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Raise and hold the medium kitchenpot made of metal together", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Use both arms to raise the medium kitchenpot made of metal.", + "Grab the round kitchenpot with handles and lift it up", + "Hold the gray kitchenpot firmly with arms", + "Raise the cylindrical kitchenpot securely with arms", + "Hold and raise the cylindrical kitchenpot together", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Securely lift the gray kitchenpot together", + "Bring the gray cylindrical metal kitchenpot up together", + "Raise the smooth gray kitchenpot with strong support", + "Grab the metal kitchenpot using both arms", + "Both arms lift the kitchenpot with smooth exterior upright", + "Lift the metal kitchenpot carefully using both arms.", + "Hold the cooking kitchenpot with side grips and lift upward", + "Grasp the gray kitchenpot and elevate together.", + "Raise the cylindrical kitchenpot together using arms", + "Lift the dark gray stove kitchenpot carefully using arms", + "Pick up the round kitchenpot with handles with careful lifting", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Raise the medium kitchenpot made of metal using both arms", + "Take hold of the metal kitchenpot and lift up", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Raise the smooth gray kitchenpot evenly with arms", + "Lift the dark gray stove kitchenpot upward with both arms", + "Place hands on the smooth gray kitchenpot, then lift.", + "Lift the medium-sized kitchenpot upwards with care", + "Lift the dark gray stove kitchenpot using both arms now.", + "Hold the gray kitchenpot firmly and lift it", + "Raise the cooking kitchenpot with side grips together with arms", + "Support the kitchenpot with smooth exterior and raise it upward", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Raise the gray kitchenpot upward with both hands", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Lift the cooking kitchenpot with side grips up using your arms", + "Hold and raise the smooth gray kitchenpot together", + "Pick up the dark gray stove kitchenpot with both arms", + "Lift the medium-sized kitchenpot up together", + "Grab the smooth gray kitchenpot and lift it upwards", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Use arms to lift the medium kitchenpot made of metal upward", + "Bring the kitchenpot with smooth exterior upwards together", + "Use both arms to raise the medium kitchenpot made of metal", + "Secure the dark gray stove kitchenpot and lift upward.", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Hold the medium-sized kitchenpot with both arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Raise and hold the cooking kitchenpot with side grips together", + "Engage arms to grip and lift the metal kitchenpot.", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Grab the kitchenpot with smooth exterior and lift it up", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Raise the medium-sized kitchenpot securely with arms", + "Hold and raise the dark gray stove kitchenpot together", + "Secure the cylindrical kitchenpot and lift it up", + "Securely lift the kitchenpot with smooth exterior together", + "Bring the dark gray stove kitchenpot up together", + "Raise the cylindrical kitchenpot with strong support", + "Grab the gray cylindrical metal kitchenpot using both arms", + "Both arms lift the kitchenpot with smooth exterior upright", + "Lift the gray kitchenpot carefully using both arms.", + "Hold the smooth gray kitchenpot and lift upward", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Raise the metal kitchenpot together using arms", + "Lift the gray kitchenpot carefully using arms", + "Pick up the cylindrical kitchenpot with careful lifting", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Lift the medium-sized kitchenpot steadily with support", + "Raise the medium kitchenpot made of metal using both arms", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Carry the smooth gray kitchenpot securely using arms", + "Raise the smooth gray kitchenpot evenly with arms", + "Lift the round kitchenpot with handles upward with both arms", + "Place hands on the cylindrical kitchenpot, then lift." + ], + "unseen": [ + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode44.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..b4a3efa7ba2a480b326a21248b9fa940c09b05f9 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the kitchenpot for boiling and cooking with both arms", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Secure the gray kitchenpot and lift it up", + "Use arms to lift the cylindrical kitchenpot upward", + "Raise the cylindrical kitchenpot together with arms", + "Use both arms to raise the cylindrical kitchenpot.", + "Hold and raise the round kitchenpot with handles together", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Raise the medium kitchenpot made of metal evenly with arms", + "Take hold of the kitchenpot with smooth exterior and lift up", + "Lift the medium-sized kitchenpot up using your arms", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Raise the medium-sized kitchenpot securely with arms", + "Grab the smooth gray kitchenpot and lift together", + "Grab the metal kitchenpot and lift it up", + "Bring the cooking kitchenpot with side grips up together", + "Raise the smooth gray kitchenpot with strong support", + "Hold the smooth gray kitchenpot with both arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Raise the medium kitchenpot made of metal upward with both hands", + "Raise and hold the cylindrical kitchenpot together", + "Hold the gray kitchenpot firmly with arms", + "Carry the kitchenpot with smooth exterior securely using arms", + "Use both arms to raise the metal kitchenpot", + "Hold the cooking kitchenpot with side grips and lift upward", + "Grip the metal kitchenpot firmly and lift", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Securely lift the medium kitchenpot made of metal together", + "Raise the cylindrical kitchenpot together using arms", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Lift the cooking kitchenpot with side grips upwards with care", + "Grab the smooth gray kitchenpot and lift it upwards", + "Pick up the cylindrical kitchenpot with careful lifting", + "Grab the medium kitchenpot made of metal using both arms", + "Raise the gray cylindrical metal kitchenpot using both arms", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Lift the medium-sized kitchenpot upward with both arms", + "Lift the gray kitchenpot steadily with support", + "Hold and raise the cooking kitchenpot with side grips together", + "Lift the medium kitchenpot made of metal up together", + "Lift the gray kitchenpot carefully using arms", + "Support the metal kitchenpot and raise it upward", + "Both arms lift the kitchenpot for boiling and cooking upright", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Bring the dark gray stove kitchenpot upwards together", + "Lift the metal kitchenpot steadily using arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "With arms, raise the metal kitchenpot upward slowly.", + "Secure the medium kitchenpot made of metal and lift upward.", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Secure the medium kitchenpot made of metal and lift it up", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Raise the gray kitchenpot together with arms", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Hold and raise the cylindrical kitchenpot together", + "Lift the medium-sized kitchenpot carefully using both arms.", + "Raise the dark gray stove kitchenpot evenly with arms", + "Take hold of the medium kitchenpot made of metal and lift up", + "Lift the kitchenpot with smooth exterior up using your arms", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Lift the medium kitchenpot made of metal using both arms now.", + "Raise the cooking kitchenpot with side grips securely with arms", + "Grab the gray cylindrical metal kitchenpot and lift together", + "Grab the gray kitchenpot and lift it up", + "Bring the smooth gray kitchenpot up together", + "Raise the metal kitchenpot with strong support", + "Hold the round kitchenpot with handles with both arms", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Raise and hold the cooking kitchenpot with side grips together", + "Hold the medium kitchenpot made of metal firmly with arms", + "Carry the metal kitchenpot securely using arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Hold the smooth gray kitchenpot and lift upward", + "Grip the medium kitchenpot made of metal firmly and lift", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "Securely lift the smooth gray kitchenpot together", + "Raise the dark gray stove kitchenpot together using arms", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Lift the gray kitchenpot upwards with care", + "Grab the smooth gray kitchenpot and lift it upwards", + "Pick up the round kitchenpot with handles with careful lifting", + "Grab the round kitchenpot with handles using both arms", + "Raise the cooking kitchenpot with side grips using both arms", + "Place hands on the gray kitchenpot, then lift.", + "Lift the metal kitchenpot upward with both arms", + "Lift the medium-sized kitchenpot steadily with support", + "Hold and raise the cylindrical kitchenpot together", + "Lift the gray kitchenpot up together", + "Lift the smooth gray kitchenpot carefully using arms", + "Support the gray kitchenpot and raise it upward", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Hold the medium-sized kitchenpot firmly and lift it", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Bring the medium kitchenpot made of metal upwards together", + "Lift the smooth gray kitchenpot steadily using arms" + ], + "unseen": [ + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode45.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..e15b626335df7b6751d047bdaa112f803a55f3c4 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise the medium kitchenpot made of metal using both arms", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Raise the medium-sized kitchenpot together using arms", + "Take hold of the gray kitchenpot and lift up", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Pick up the cooking kitchenpot with side grips with both arms", + "Grab the round kitchenpot with handles and lift it upwards", + "Lift the smooth gray kitchenpot carefully using arms", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Raise the gray cylindrical metal kitchenpot upward with both hands", + "Raise the round kitchenpot with handles together with arms", + "Secure the medium-sized kitchenpot and lift upward.", + "Raise the gray kitchenpot securely with arms", + "Hold the smooth gray kitchenpot and lift upward", + "Carry the kitchenpot with smooth exterior securely using arms", + "Bring the round kitchenpot with handles up together", + "Use both arms to raise the dark gray stove kitchenpot.", + "Lift the round kitchenpot with handles upward and hold it", + "Hold and raise the cylindrical kitchenpot together", + "Grab the medium kitchenpot made of metal using both arms", + "Grab the gray kitchenpot and lift together", + "Securely lift the medium kitchenpot made of metal together", + "Both arms lift the round kitchenpot with handles upright", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Lift the medium-sized kitchenpot upwards with care", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Hold and raise the medium kitchenpot made of metal together", + "Secure the smooth gray kitchenpot and lift it up", + "Raise the dark gray stove kitchenpot steadily using arms", + "Support the gray kitchenpot and raise it upward", + "Raise the cylindrical kitchenpot evenly with arms", + "Raise and hold the dark gray stove kitchenpot together", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Grab the round kitchenpot with handles and lift it up", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Lift the kitchenpot for boiling and cooking steadily using arms", + "Raise the kitchenpot for boiling and cooking with strong support", + "Place hands on the smooth gray kitchenpot, then lift.", + "Lift the medium kitchenpot made of metal up together", + "Hold the round kitchenpot with handles firmly, then lift.", + "Grasp the smooth gray kitchenpot and elevate together.", + "Bring the medium-sized kitchenpot upwards together", + "Lift the gray kitchenpot steadily with support", + "Hold the gray kitchenpot firmly with arms", + "Use both arms to raise the gray kitchenpot", + "Hold the cylindrical kitchenpot with both arms", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Raise the gray kitchenpot using both arms", + "Engage arms to grip and lift the metal kitchenpot.", + "Raise the round kitchenpot with handles together using arms", + "Take hold of the cooking kitchenpot with side grips and lift up", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Pick up the gray cylindrical metal kitchenpot with both arms", + "Grab the smooth gray kitchenpot and lift it upwards", + "Lift the gray kitchenpot carefully using arms", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Raise the round kitchenpot with handles upward with both hands", + "Raise the dark gray stove kitchenpot together with arms", + "Secure the cylindrical kitchenpot and lift upward.", + "Raise the cylindrical kitchenpot securely with arms", + "Hold the cooking kitchenpot with side grips and lift upward", + "Carry the medium-sized kitchenpot securely using arms", + "Bring the smooth gray kitchenpot up together", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Hold and raise the cylindrical kitchenpot together", + "Grab the metal kitchenpot using both arms", + "Grab the dark gray stove kitchenpot and lift together", + "Securely lift the cylindrical kitchenpot together", + "Both arms lift the medium kitchenpot made of metal upright", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Pick up the medium-sized kitchenpot with careful lifting", + "Lift the kitchenpot for boiling and cooking upwards with care", + "Lift the metal kitchenpot up using your arms", + "Hold and raise the kitchenpot for boiling and cooking together", + "Secure the kitchenpot with smooth exterior and lift it up", + "Raise the smooth gray kitchenpot steadily using arms", + "Support the kitchenpot for boiling and cooking and raise it upward", + "Raise the smooth gray kitchenpot evenly with arms", + "Raise and hold the kitchenpot for boiling and cooking together", + "Hold the smooth gray kitchenpot firmly and lift it", + "Grab the gray kitchenpot and lift it up", + "Lift the medium-sized kitchenpot upward with both arms", + "Lift the round kitchenpot with handles steadily using arms", + "Raise the smooth gray kitchenpot with strong support", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Lift the medium kitchenpot made of metal up together", + "Hold the cylindrical kitchenpot firmly, then lift.", + "Grasp the gray kitchenpot and elevate together.", + "Bring the dark gray stove kitchenpot upwards together", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Hold the medium-sized kitchenpot firmly with arms", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "Hold the cylindrical kitchenpot with both arms", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Use arms to lift the kitchenpot for boiling and cooking upward" + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms for the kitchenpot with two side handles" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode46.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..c3ba350172076f3792a3a8a53d70e16c49f4709e --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and raise the medium kitchenpot made of metal together", + "Grab the smooth gray kitchenpot and lift it upwards", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Grab the cylindrical kitchenpot and lift together", + "Grip the dark gray stove kitchenpot firmly and lift", + "Lift the round kitchenpot with handles using both arms now.", + "Use arms to lift the kitchenpot with smooth exterior upward", + "Lift the dark gray stove kitchenpot carefully using arms", + "Securely lift the metal kitchenpot together", + "Lift the cooking kitchenpot with side grips up using your arms", + "Hold the round kitchenpot with handles firmly with arms", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Lift the cylindrical kitchenpot steadily using arms", + "Both arms lift the round kitchenpot with handles upright", + "Lift the cooking kitchenpot with side grips upwards with care", + "Raise the smooth gray kitchenpot securely with arms", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Take hold of the smooth gray kitchenpot and lift up", + "Grasp the dark gray stove kitchenpot and elevate together.", + "Raise the smooth gray kitchenpot using both arms", + "Raise the medium-sized kitchenpot together using arms", + "Secure the metal kitchenpot and lift it up", + "Lift the gray kitchenpot upward with both arms", + "Lift the cylindrical kitchenpot up together", + "Pick up the round kitchenpot with handles with careful lifting", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Raise the medium kitchenpot made of metal evenly with arms", + "Raise the smooth gray kitchenpot with strong support", + "Hold the metal kitchenpot firmly and lift it", + "Use both arms to raise the metal kitchenpot.", + "Raise the round kitchenpot with handles together with arms", + "Grab the metal kitchenpot using both arms", + "Lift the gray kitchenpot upward and hold it", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "Grab the cylindrical kitchenpot and lift it up", + "Hold and raise the medium-sized kitchenpot together", + "Hold the medium kitchenpot made of metal and lift upward", + "Secure the medium kitchenpot made of metal and lift upward.", + "Use both arms to raise the cylindrical kitchenpot", + "Raise and hold the medium kitchenpot made of metal together", + "Pick up the kitchenpot with smooth exterior with both arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Support the medium kitchenpot made of metal and raise it upward", + "Bring the cooking kitchenpot with side grips up together", + "Hold the medium-sized kitchenpot with both arms", + "Raise the metal kitchenpot steadily using arms", + "Hold and raise the metal kitchenpot together", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Lift the cooking kitchenpot with side grips steadily with support", + "Hold the medium kitchenpot made of metal firmly and move upward.", + "Grab the medium kitchenpot made of metal and lift together", + "Grip the cooking kitchenpot with side grips firmly and lift", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Securely lift the cooking kitchenpot with side grips together", + "Lift the round kitchenpot with handles up using your arms", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Lift the cylindrical kitchenpot steadily using arms", + "Both arms lift the gray kitchenpot upright", + "Lift the cylindrical kitchenpot upwards with care", + "Raise the medium-sized kitchenpot securely with arms", + "Carry the smooth gray kitchenpot securely using arms", + "Raise the medium-sized kitchenpot upward with both hands", + "Take hold of the dark gray stove kitchenpot and lift up", + "Grasp the cylindrical kitchenpot and elevate together.", + "Raise the medium-sized kitchenpot using both arms", + "Raise the gray kitchenpot together using arms", + "Secure the cylindrical kitchenpot and lift it up", + "Lift the round kitchenpot with handles upward with both arms", + "Lift the medium kitchenpot made of metal up together", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Bring the cylindrical kitchenpot upwards together", + "Place hands on the cooking kitchenpot with side grips, then lift.", + "Raise the round kitchenpot with handles evenly with arms", + "Raise the cooking kitchenpot with side grips with strong support", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Use both arms to raise the dark gray stove kitchenpot.", + "Raise the gray kitchenpot together with arms", + "Grab the medium kitchenpot made of metal using both arms", + "Lift the metal kitchenpot upward and hold it", + "Hold the metal kitchenpot firmly, then lift.", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Grab the dark gray stove kitchenpot and lift it up", + "Hold and raise the dark gray stove kitchenpot together", + "Hold the medium kitchenpot made of metal and lift upward", + "Secure the metal kitchenpot and lift upward.", + "Use both arms to raise the medium kitchenpot made of metal", + "Raise and hold the dark gray stove kitchenpot together", + "Pick up the cooking kitchenpot with side grips with both arms", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Support the gray kitchenpot and raise it upward", + "Bring the medium kitchenpot made of metal up together", + "Hold the metal kitchenpot with both arms", + "Raise the kitchenpot with smooth exterior steadily using arms" + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode47.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..e0b698dd990ed4423601518a841aec3976dde092 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the gray kitchenpot with careful lifting", + "Hold the round kitchenpot with handles firmly, then lift.", + "Lift the kitchenpot for boiling and cooking upward and hold it", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Hold the metal kitchenpot firmly and move upward.", + "Grab the kitchenpot with smooth exterior and lift it up", + "Grab the medium kitchenpot made of metal and lift it upwards", + "Lift the kitchenpot for boiling and cooking up together", + "Use both arms to raise the cooking kitchenpot with side grips.", + "Lift the dark gray stove kitchenpot upward with both arms", + "Take hold of the smooth gray kitchenpot and lift up", + "Secure the medium kitchenpot made of metal and lift upward.", + "Hold the kitchenpot for boiling and cooking and lift upward", + "Grab the gray kitchenpot using both arms", + "Hold the cylindrical kitchenpot firmly and lift it", + "Secure the cooking kitchenpot with side grips and lift it up", + "Raise the dark gray stove kitchenpot evenly with arms", + "Raise the dark gray stove kitchenpot securely with arms", + "Lift the round kitchenpot with handles carefully using arms", + "Bring the smooth gray kitchenpot upwards together", + "Raise the medium kitchenpot made of metal together with arms", + "Carry the metal kitchenpot securely using arms", + "Grasp the gray cylindrical metal kitchenpot and elevate together.", + "Hold the metal kitchenpot with both arms", + "Raise and hold the round kitchenpot with handles together", + "Use both arms to raise the round kitchenpot with handles", + "Use arms to lift the smooth gray kitchenpot upward", + "Lift the cylindrical kitchenpot steadily using arms", + "Both arms lift the medium-sized kitchenpot upright", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Raise the kitchenpot for boiling and cooking with strong support", + "Hold and raise the cylindrical kitchenpot together", + "Raise the medium-sized kitchenpot using both arms", + "Bring the round kitchenpot with handles up together", + "Engage arms to grip and lift the gray kitchenpot.", + "Lift the medium kitchenpot made of metal up using your arms", + "Grab the gray kitchenpot and lift together", + "Support the gray kitchenpot and raise it upward", + "With arms, raise the round kitchenpot with handles upward slowly.", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Lift the gray kitchenpot upwards with care", + "Securely lift the cooking kitchenpot with side grips together", + "Raise the smooth gray kitchenpot steadily using arms", + "Pick up the gray kitchenpot with both arms", + "Lift the cylindrical kitchenpot steadily with support", + "Lift the gray kitchenpot carefully using both arms.", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Hold the metal kitchenpot firmly, then lift.", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Hold and raise the medium kitchenpot made of metal together", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Hold the medium-sized kitchenpot firmly and move upward.", + "Grab the gray kitchenpot and lift it up", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Lift the kitchenpot for boiling and cooking up together", + "Use both arms to raise the medium-sized kitchenpot.", + "Lift the gray kitchenpot upward with both arms", + "Take hold of the medium-sized kitchenpot and lift up", + "Secure the metal kitchenpot and lift upward.", + "Hold the round kitchenpot with handles and lift upward", + "Grab the round kitchenpot with handles using both arms", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Secure the smooth gray kitchenpot and lift it up", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Raise the medium kitchenpot made of metal securely with arms", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Bring the cylindrical kitchenpot upwards together", + "Raise the kitchenpot with smooth exterior together with arms", + "Carry the cylindrical kitchenpot securely using arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Hold the kitchenpot with smooth exterior with both arms", + "Raise and hold the round kitchenpot with handles together", + "Use both arms to raise the gray kitchenpot", + "Use arms to lift the dark gray stove kitchenpot upward", + "Lift the metal kitchenpot steadily using arms", + "Both arms lift the metal kitchenpot upright", + "Raise the dark gray stove kitchenpot together using arms", + "Place hands on the round kitchenpot with handles, then lift.", + "Raise the medium-sized kitchenpot with strong support", + "Hold and raise the kitchenpot with smooth exterior together", + "Raise the gray kitchenpot using both arms", + "Bring the round kitchenpot with handles up together", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Lift the cooking kitchenpot with side grips up using your arms", + "Grab the medium-sized kitchenpot and lift together", + "Support the smooth gray kitchenpot and raise it upward", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Grip the gray kitchenpot firmly and lift", + "Lift the cylindrical kitchenpot upwards with care", + "Securely lift the metal kitchenpot together", + "Raise the gray cylindrical metal kitchenpot steadily using arms", + "Pick up the cylindrical kitchenpot with both arms", + "Lift the medium-sized kitchenpot steadily with support", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Raise the round kitchenpot with handles upward with both hands" + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the dark gray cooking kitchenpot up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode48.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..839dc1052e64320a13a8bb3663a4b87a4a21bcc8 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Raise and hold the dark gray stove kitchenpot together", + "Lift the kitchenpot with smooth exterior carefully using arms", + "Lift the metal kitchenpot carefully using both arms.", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Raise the cooking kitchenpot with side grips securely with arms", + "Raise the kitchenpot with smooth exterior upward with both hands", + "Grasp the cylindrical kitchenpot and elevate together.", + "Take hold of the round kitchenpot with handles and lift up", + "Hold and raise the metal kitchenpot together", + "Use both arms to raise the smooth gray kitchenpot.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Place hands on the round kitchenpot with handles, then lift.", + "Lift the gray kitchenpot using both arms now.", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Lift the metal kitchenpot upward and hold it", + "Raise the round kitchenpot with handles steadily using arms", + "Hold the round kitchenpot with handles firmly and lift it", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Hold the metal kitchenpot firmly and move upward.", + "Lift the gray kitchenpot up using your arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Hold and raise the metal kitchenpot together", + "Hold the cooking kitchenpot with side grips with both arms", + "Raise the medium kitchenpot made of metal together with arms", + "Raise the metal kitchenpot using both arms", + "Raise the metal kitchenpot with strong support", + "Pick up the kitchenpot for boiling and cooking with careful lifting", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Grab the cylindrical kitchenpot using both arms", + "Secure the metal kitchenpot and lift upward.", + "Grab the cooking kitchenpot with side grips and lift together", + "Both arms lift the cylindrical kitchenpot upright", + "Use both arms to raise the medium kitchenpot made of metal", + "Support the medium kitchenpot made of metal and raise it upward", + "Lift the kitchenpot with smooth exterior up together", + "Securely lift the gray kitchenpot together", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Grip the smooth gray kitchenpot firmly and lift", + "Carry the medium-sized kitchenpot securely using arms", + "Raise the smooth gray kitchenpot together using arms", + "Bring the gray kitchenpot upwards together", + "Grab the cooking kitchenpot with side grips and lift it up", + "Lift the kitchenpot with smooth exterior steadily using arms", + "Hold the dark gray stove kitchenpot firmly with arms", + "Pick up the medium-sized kitchenpot with both arms", + "Bring the cooking kitchenpot with side grips up together", + "Secure the kitchenpot with smooth exterior and lift it up", + "With arms, raise the gray kitchenpot upward slowly.", + "Lift the cylindrical kitchenpot steadily with support", + "Raise and hold the medium kitchenpot made of metal together", + "Lift the medium-sized kitchenpot carefully using arms", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Raise the gray kitchenpot securely with arms", + "Raise the gray kitchenpot upward with both hands", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Take hold of the kitchenpot for boiling and cooking and lift up", + "Hold and raise the kitchenpot with smooth exterior together", + "Use both arms to raise the cylindrical kitchenpot.", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Lift the gray cylindrical metal kitchenpot using both arms now.", + "Lift the metal kitchenpot upwards with care", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Raise the metal kitchenpot steadily using arms", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Engage arms to grip and lift the cooking kitchenpot with side grips.", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Lift the kitchenpot for boiling and cooking up using your arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Hold and raise the round kitchenpot with handles together", + "Hold the metal kitchenpot with both arms", + "Raise the kitchenpot with smooth exterior together with arms", + "Raise the dark gray stove kitchenpot using both arms", + "Raise the cooking kitchenpot with side grips with strong support", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Grab the smooth gray kitchenpot and lift it upwards", + "Hold the kitchenpot with smooth exterior and lift upward", + "Grab the metal kitchenpot using both arms", + "Secure the gray kitchenpot and lift upward.", + "Grab the cooking kitchenpot with side grips and lift together", + "Both arms lift the medium-sized kitchenpot upright", + "Use both arms to raise the dark gray stove kitchenpot", + "Support the dark gray stove kitchenpot and raise it upward", + "Lift the dark gray stove kitchenpot up together", + "Securely lift the kitchenpot with smooth exterior together", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Grip the smooth gray kitchenpot firmly and lift", + "Carry the kitchenpot with smooth exterior securely using arms", + "Raise the metal kitchenpot together using arms", + "Bring the metal kitchenpot upwards together", + "Grab the round kitchenpot with handles and lift it up", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Hold the kitchenpot with smooth exterior firmly with arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Bring the smooth gray kitchenpot up together", + "Secure the metal kitchenpot and lift it up", + "With arms, raise the medium-sized kitchenpot upward slowly.", + "Lift the medium kitchenpot made of metal steadily with support" + ], + "unseen": [ + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Hold the kitchenpot with two side handles firmly and lift it", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode49.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..b0b0b6b41a92a3392bb4a6e2f3a7fabd2ab8a7e2 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the cylindrical kitchenpot carefully using both arms.", + "Lift the dark gray stove kitchenpot upwards with care", + "Lift the gray kitchenpot carefully using arms", + "Use both arms to raise the medium kitchenpot made of metal.", + "Securely lift the gray kitchenpot together", + "Lift the medium kitchenpot made of metal using both arms now.", + "Hold the smooth gray kitchenpot firmly and lift it", + "Pick up the kitchenpot with smooth exterior with careful lifting", + "Raise the gray kitchenpot steadily using arms", + "Raise the cylindrical kitchenpot using both arms", + "Raise the kitchenpot for boiling and cooking with strong support", + "Grasp the kitchenpot with smooth exterior and elevate together.", + "Hold and raise the medium-sized kitchenpot together", + "Hold the medium-sized kitchenpot with both arms", + "Use arms to lift the gray kitchenpot upward", + "Lift the cylindrical kitchenpot steadily with support", + "Raise and hold the cylindrical kitchenpot together", + "Raise the kitchenpot for boiling and cooking upward with both hands", + "Lift the dark gray stove kitchenpot up using your arms", + "Use both arms to raise the gray cylindrical metal kitchenpot", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Hold the metal kitchenpot firmly and move upward.", + "Pick up the medium-sized kitchenpot with both arms", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Grab the kitchenpot with smooth exterior using both arms", + "Bring the dark gray stove kitchenpot upwards together", + "Hold the smooth gray kitchenpot and lift upward", + "Hold and raise the smooth gray kitchenpot together", + "Grab the cooking kitchenpot with side grips and lift together", + "Hold the round kitchenpot with handles firmly with arms", + "Bring the round kitchenpot with handles up together", + "Hold the medium kitchenpot made of metal firmly, then lift.", + "Grip the round kitchenpot with handles firmly and lift", + "Lift the kitchenpot with smooth exterior upward and hold it", + "Lift the medium kitchenpot made of metal upward with both arms", + "Secure the gray kitchenpot and lift upward.", + "Raise the medium-sized kitchenpot together with arms", + "Raise the round kitchenpot with handles securely with arms", + "Support the gray kitchenpot and raise it upward", + "Both arms lift the gray kitchenpot upright", + "Place hands on the gray kitchenpot, then lift.", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Carry the cooking kitchenpot with side grips securely using arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Lift the smooth gray kitchenpot up together", + "Raise the cylindrical kitchenpot evenly with arms", + "Grab the medium-sized kitchenpot and lift it upwards", + "Raise the kitchenpot with smooth exterior together using arms", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Take hold of the dark gray stove kitchenpot and lift up", + "Lift the medium kitchenpot made of metal carefully using both arms.", + "Lift the dark gray stove kitchenpot upwards with care", + "Lift the medium-sized kitchenpot carefully using arms", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Securely lift the gray kitchenpot together", + "Lift the medium kitchenpot made of metal using both arms now.", + "Hold the dark gray stove kitchenpot firmly and lift it", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Raise the cylindrical kitchenpot steadily using arms", + "Raise the medium kitchenpot made of metal using both arms", + "Raise the kitchenpot with smooth exterior with strong support", + "Grasp the metal kitchenpot and elevate together.", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Hold the medium kitchenpot made of metal with both arms", + "Use arms to lift the cooking kitchenpot with side grips upward", + "Lift the medium-sized kitchenpot steadily with support", + "Raise and hold the cylindrical kitchenpot together", + "Raise the medium kitchenpot made of metal upward with both hands", + "Lift the gray kitchenpot up using your arms", + "Use both arms to raise the gray kitchenpot", + "With arms, raise the gray kitchenpot upward slowly.", + "Hold the gray cylindrical metal kitchenpot firmly and move upward.", + "Pick up the medium-sized kitchenpot with both arms", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Grab the round kitchenpot with handles using both arms", + "Bring the kitchenpot for boiling and cooking upwards together", + "Hold the metal kitchenpot and lift upward", + "Hold and raise the cylindrical kitchenpot together", + "Grab the medium-sized kitchenpot and lift together", + "Hold the medium-sized kitchenpot firmly with arms", + "Bring the metal kitchenpot up together", + "Hold the dark gray stove kitchenpot firmly, then lift.", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Lift the cylindrical kitchenpot upward and hold it", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Secure the gray kitchenpot and lift upward.", + "Raise the cylindrical kitchenpot together with arms", + "Raise the dark gray stove kitchenpot securely with arms", + "Support the medium-sized kitchenpot and raise it upward", + "Both arms lift the kitchenpot with smooth exterior upright", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Secure the gray kitchenpot and lift it up", + "Carry the cylindrical kitchenpot securely using arms", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Lift the kitchenpot for boiling and cooking up together", + "Raise the gray kitchenpot evenly with arms", + "Grab the gray kitchenpot and lift it upwards", + "Raise the cooking kitchenpot with side grips together using arms", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Take hold of the medium kitchenpot made of metal and lift up" + ], + "unseen": [ + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Use both arms for the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode5.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..042d5b55b4096c2f03744bed8340af4e085d4f87 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Both arms lift the cooking kitchenpot with side grips upright", + "Place hands on the cylindrical kitchenpot, then lift.", + "Secure the cylindrical kitchenpot and lift it up", + "Support the gray kitchenpot and raise it upward", + "Hold and raise the medium kitchenpot made of metal together", + "Pick up the round kitchenpot with handles with careful lifting", + "Hold the metal kitchenpot and lift upward", + "Take hold of the gray kitchenpot and lift up", + "Bring the medium-sized kitchenpot upwards together", + "Lift the metal kitchenpot carefully using arms", + "Lift the gray kitchenpot up together", + "Lift the cooking kitchenpot with side grips up using your arms", + "Hold the smooth gray kitchenpot firmly with arms", + "Lift the gray cylindrical metal kitchenpot upward and hold it", + "Raise the smooth gray kitchenpot using both arms", + "Grab the round kitchenpot with handles and lift together", + "Raise the medium kitchenpot made of metal with strong support", + "Grab the medium-sized kitchenpot and lift it up", + "Raise the round kitchenpot with handles steadily using arms", + "Raise the smooth gray kitchenpot upward with both hands", + "Raise and hold the kitchenpot for boiling and cooking together", + "Use both arms to raise the medium-sized kitchenpot.", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Grab the cylindrical kitchenpot using both arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Secure the kitchenpot with smooth exterior and lift upward.", + "Lift the kitchenpot with smooth exterior upwards with care", + "Hold the medium-sized kitchenpot with both arms", + "Hold the metal kitchenpot firmly, then lift.", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Bring the medium-sized kitchenpot up together", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Hold the smooth gray kitchenpot firmly and move upward.", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Pick up the metal kitchenpot with both arms", + "Grab the cooking kitchenpot with side grips and lift it upwards", + "Raise the cooking kitchenpot with side grips together using arms", + "Lift the round kitchenpot with handles steadily using arms", + "Securely lift the cooking kitchenpot with side grips together", + "Hold and raise the round kitchenpot with handles together", + "Lift the smooth gray kitchenpot upward with both arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Lift the smooth gray kitchenpot steadily with support", + "Raise the round kitchenpot with handles securely with arms", + "Use both arms to raise the metal kitchenpot", + "Grip the round kitchenpot with handles firmly and lift", + "Both arms lift the gray kitchenpot upright", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Secure the medium kitchenpot made of metal and lift it up", + "Support the smooth gray kitchenpot and raise it upward", + "Hold and raise the metal kitchenpot together", + "Pick up the gray cylindrical metal kitchenpot with careful lifting", + "Hold the cooking kitchenpot with side grips and lift upward", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Bring the medium-sized kitchenpot upwards together", + "Lift the medium kitchenpot made of metal carefully using arms", + "Lift the dark gray stove kitchenpot up together", + "Lift the round kitchenpot with handles up using your arms", + "Hold the cylindrical kitchenpot firmly with arms", + "Lift the medium-sized kitchenpot upward and hold it", + "Raise the cylindrical kitchenpot using both arms", + "Grab the medium kitchenpot made of metal and lift together", + "Raise the kitchenpot with smooth exterior with strong support", + "Grab the medium-sized kitchenpot and lift it up", + "Raise the medium-sized kitchenpot steadily using arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Raise and hold the kitchenpot with smooth exterior together", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Lift the dark gray stove kitchenpot using both arms now.", + "Grab the dark gray stove kitchenpot using both arms", + "Raise the cooking kitchenpot with side grips together with arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Grasp the medium kitchenpot made of metal and elevate together.", + "Engage arms to grip and lift the gray cylindrical metal kitchenpot.", + "Use arms to lift the kitchenpot for boiling and cooking upward", + "Secure the smooth gray kitchenpot and lift upward.", + "Lift the medium kitchenpot made of metal upwards with care", + "Hold the cylindrical kitchenpot with both arms", + "Hold the cylindrical kitchenpot firmly, then lift.", + "With arms, raise the gray cylindrical metal kitchenpot upward slowly.", + "Bring the medium-sized kitchenpot up together", + "Carry the gray kitchenpot securely using arms", + "Hold the dark gray stove kitchenpot firmly and move upward.", + "Lift the gray kitchenpot carefully using both arms.", + "Pick up the medium-sized kitchenpot with both arms", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Raise the smooth gray kitchenpot together using arms", + "Lift the cylindrical kitchenpot steadily using arms", + "Securely lift the round kitchenpot with handles together", + "Hold and raise the gray kitchenpot together", + "Lift the gray kitchenpot upward with both arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Raise the round kitchenpot with handles securely with arms", + "Use both arms to raise the cylindrical kitchenpot", + "Grip the medium-sized kitchenpot firmly and lift" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Use both arms to lift the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Use both arms to lift the dark gray cooking kitchenpot", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode6.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..6d89f551f02fb5b9ba3907f427b7fa093690c817 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium kitchenpot made of metal and lift upward", + "Place hands on the kitchenpot with smooth exterior, then lift.", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Raise the smooth gray kitchenpot together using arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Support the smooth gray kitchenpot and raise it upward", + "Lift the gray cylindrical metal kitchenpot up using your arms", + "Bring the cylindrical kitchenpot upwards together", + "Lift the cooking kitchenpot with side grips upward with both arms", + "Lift the metal kitchenpot upwards with care", + "Secure the kitchenpot with smooth exterior and lift it up", + "Lift the smooth gray kitchenpot carefully using arms", + "Raise the cylindrical kitchenpot using both arms", + "Hold the medium-sized kitchenpot firmly, then lift.", + "Use arms to lift the metal kitchenpot upward", + "Raise and hold the metal kitchenpot together", + "Lift the kitchenpot for boiling and cooking carefully using both arms.", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Take hold of the medium-sized kitchenpot and lift up", + "Grab the cylindrical kitchenpot and lift it upwards", + "Bring the gray cylindrical metal kitchenpot up together", + "Secure the cylindrical kitchenpot and lift upward.", + "Grab the round kitchenpot with handles and lift it up", + "Raise the gray kitchenpot upward with both hands", + "Grab the kitchenpot with smooth exterior and lift together", + "Pick up the cylindrical kitchenpot with both arms", + "Grab the kitchenpot for boiling and cooking using both arms", + "Pick up the gray kitchenpot with careful lifting", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Lift the medium-sized kitchenpot upward and hold it", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Grip the round kitchenpot with handles firmly and lift", + "Lift the smooth gray kitchenpot up together", + "Raise the metal kitchenpot steadily using arms", + "Raise the kitchenpot for boiling and cooking with strong support", + "Grasp the gray kitchenpot and elevate together.", + "Hold the cylindrical kitchenpot with both arms", + "Engage arms to grip and lift the medium-sized kitchenpot.", + "Lift the cylindrical kitchenpot steadily with support", + "Hold the cylindrical kitchenpot firmly with arms", + "Raise the cooking kitchenpot with side grips evenly with arms", + "Raise the gray kitchenpot together with arms", + "Carry the smooth gray kitchenpot securely using arms", + "Securely lift the dark gray stove kitchenpot together", + "Hold and raise the gray kitchenpot together", + "Raise the medium kitchenpot made of metal securely with arms", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Use both arms to raise the kitchenpot with smooth exterior.", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Use both arms to raise the smooth gray kitchenpot", + "Hold the cooking kitchenpot with side grips and lift upward", + "Place hands on the cylindrical kitchenpot, then lift.", + "Both arms lift the gray kitchenpot upright", + "Raise the gray kitchenpot together using arms", + "Hold and raise the gray cylindrical metal kitchenpot together", + "Support the cylindrical kitchenpot and raise it upward", + "Lift the cooking kitchenpot with side grips up using your arms", + "Bring the smooth gray kitchenpot upwards together", + "Lift the metal kitchenpot upward with both arms", + "Lift the metal kitchenpot upwards with care", + "Secure the gray kitchenpot and lift it up", + "Lift the cooking kitchenpot with side grips carefully using arms", + "Raise the round kitchenpot with handles using both arms", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Use arms to lift the round kitchenpot with handles upward", + "Raise and hold the cylindrical kitchenpot together", + "Lift the gray kitchenpot carefully using both arms.", + "With arms, raise the metal kitchenpot upward slowly.", + "Take hold of the medium-sized kitchenpot and lift up", + "Grab the kitchenpot for boiling and cooking and lift it upwards", + "Bring the medium kitchenpot made of metal up together", + "Secure the kitchenpot for boiling and cooking and lift upward.", + "Grab the metal kitchenpot and lift it up", + "Raise the medium-sized kitchenpot upward with both hands", + "Grab the dark gray stove kitchenpot and lift together", + "Pick up the medium kitchenpot made of metal with both arms", + "Grab the cylindrical kitchenpot using both arms", + "Pick up the medium kitchenpot made of metal with careful lifting", + "Hold the metal kitchenpot firmly and move upward.", + "Lift the smooth gray kitchenpot upward and hold it", + "Lift the metal kitchenpot steadily using arms", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Lift the gray cylindrical metal kitchenpot up together", + "Raise the cooking kitchenpot with side grips steadily using arms", + "Raise the cooking kitchenpot with side grips with strong support", + "Grasp the medium-sized kitchenpot and elevate together.", + "Hold the kitchenpot for boiling and cooking with both arms", + "Engage arms to grip and lift the cylindrical kitchenpot.", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Hold the gray kitchenpot firmly with arms", + "Raise the kitchenpot with smooth exterior evenly with arms", + "Raise the kitchenpot with smooth exterior together with arms", + "Carry the dark gray stove kitchenpot securely using arms", + "Securely lift the cooking kitchenpot with side grips together", + "Hold and raise the gray kitchenpot together", + "Raise the medium kitchenpot made of metal securely with arms", + "Hold the medium kitchenpot made of metal firmly and lift it", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Lift the kitchenpot for boiling and cooking using both arms now.", + "Use both arms to raise the medium kitchenpot made of metal" + ], + "unseen": [ + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms for the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Together lift the kitchenpot with two side handles up", + "Use both arms for the gray kitchenpot with rounded edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode7.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..9556a2d2ac0488b79c5b094b7c36620c5b833a25 --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and raise the round kitchenpot with handles together", + "Both arms lift the medium-sized kitchenpot upright", + "Take hold of the medium-sized kitchenpot and lift up", + "Engage arms to grip and lift the metal kitchenpot.", + "Lift the cooking kitchenpot with side grips carefully using both arms.", + "Use arms to lift the smooth gray kitchenpot upward", + "Raise the smooth gray kitchenpot using both arms", + "Hold the kitchenpot for boiling and cooking with both arms", + "Raise the medium kitchenpot made of metal with strong support", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Hold the medium-sized kitchenpot firmly and move upward.", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Raise the gray cylindrical metal kitchenpot together using arms", + "Hold the cooking kitchenpot with side grips firmly and lift it", + "Grasp the round kitchenpot with handles and elevate together.", + "Hold the smooth gray kitchenpot firmly, then lift.", + "Grab the cylindrical kitchenpot and lift together", + "Pick up the smooth gray kitchenpot with careful lifting", + "Place hands on the medium-sized kitchenpot, then lift.", + "Grab the medium-sized kitchenpot and lift it upwards", + "Support the round kitchenpot with handles and raise it upward", + "Pick up the metal kitchenpot with both arms", + "Hold and raise the medium-sized kitchenpot together", + "Securely lift the kitchenpot with smooth exterior together", + "Raise the medium kitchenpot made of metal steadily using arms", + "Lift the medium-sized kitchenpot using both arms now.", + "Secure the metal kitchenpot and lift upward.", + "Lift the kitchenpot for boiling and cooking steadily with support", + "Grip the gray cylindrical metal kitchenpot firmly and lift", + "Raise the gray kitchenpot together with arms", + "Lift the medium kitchenpot made of metal up together", + "Hold the cooking kitchenpot with side grips firmly with arms", + "Raise the dark gray stove kitchenpot upward with both hands", + "Lift the round kitchenpot with handles upward and hold it", + "Raise and hold the cylindrical kitchenpot together", + "Lift the dark gray stove kitchenpot steadily using arms", + "Use both arms to raise the medium kitchenpot made of metal", + "Bring the kitchenpot with smooth exterior upwards together", + "Hold the medium-sized kitchenpot and lift upward", + "Grab the dark gray stove kitchenpot and lift it up", + "Raise the metal kitchenpot evenly with arms", + "Lift the medium kitchenpot made of metal carefully using arms", + "Raise the round kitchenpot with handles securely with arms", + "Grab the metal kitchenpot using both arms", + "Lift the cylindrical kitchenpot up using your arms", + "Bring the dark gray stove kitchenpot up together", + "Lift the round kitchenpot with handles upwards with care", + "Carry the gray cylindrical metal kitchenpot securely using arms", + "Lift the metal kitchenpot upward with both arms", + "Use both arms to raise the round kitchenpot with handles.", + "Hold and raise the round kitchenpot with handles together", + "Both arms lift the gray cylindrical metal kitchenpot upright", + "Take hold of the gray cylindrical metal kitchenpot and lift up", + "Engage arms to grip and lift the kitchenpot for boiling and cooking.", + "Lift the gray cylindrical metal kitchenpot carefully using both arms.", + "Use arms to lift the gray kitchenpot upward", + "Raise the gray kitchenpot using both arms", + "Hold the medium kitchenpot made of metal with both arms", + "Raise the metal kitchenpot with strong support", + "Secure the kitchenpot for boiling and cooking and lift it up", + "Hold the kitchenpot with smooth exterior firmly and move upward.", + "With arms, raise the dark gray stove kitchenpot upward slowly.", + "Raise the gray kitchenpot together using arms", + "Hold the gray kitchenpot firmly and lift it", + "Grasp the cylindrical kitchenpot and elevate together.", + "Hold the kitchenpot with smooth exterior firmly, then lift.", + "Grab the smooth gray kitchenpot and lift together", + "Pick up the gray kitchenpot with careful lifting", + "Place hands on the medium kitchenpot made of metal, then lift.", + "Grab the cylindrical kitchenpot and lift it upwards", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Pick up the round kitchenpot with handles with both arms", + "Hold and raise the medium kitchenpot made of metal together", + "Securely lift the dark gray stove kitchenpot together", + "Raise the kitchenpot with smooth exterior steadily using arms", + "Lift the cylindrical kitchenpot using both arms now.", + "Secure the cylindrical kitchenpot and lift upward.", + "Lift the medium kitchenpot made of metal steadily with support", + "Grip the kitchenpot for boiling and cooking firmly and lift", + "Raise the medium kitchenpot made of metal together with arms", + "Lift the kitchenpot for boiling and cooking up together", + "Hold the gray kitchenpot firmly with arms", + "Raise the medium kitchenpot made of metal upward with both hands", + "Lift the medium kitchenpot made of metal upward and hold it", + "Raise and hold the smooth gray kitchenpot together", + "Lift the dark gray stove kitchenpot steadily using arms", + "Use both arms to raise the kitchenpot with smooth exterior", + "Bring the medium-sized kitchenpot upwards together", + "Hold the round kitchenpot with handles and lift upward", + "Grab the round kitchenpot with handles and lift it up", + "Raise the medium-sized kitchenpot evenly with arms", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Raise the smooth gray kitchenpot securely with arms", + "Grab the dark gray stove kitchenpot using both arms", + "Lift the metal kitchenpot up using your arms", + "Bring the kitchenpot with smooth exterior up together", + "Lift the gray cylindrical metal kitchenpot upwards with care", + "Carry the smooth gray kitchenpot securely using arms", + "Lift the gray cylindrical metal kitchenpot upward with both arms", + "Use both arms to raise the round kitchenpot with handles." + ], + "unseen": [ + "Use both arms for the kitchenpot with two side handles", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the kitchenpot with two side handles", + "Together lift the dark gray cooking kitchenpot up", + "Grab the dark gray cooking kitchenpot with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the dark gray cooking kitchenpot up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the dark gray cooking kitchenpot", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the dark gray cooking kitchenpot up", + "Grab the kitchenpot with two side handles with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the gray kitchenpot with rounded edges up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the kitchenpot with two side handles with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the kitchenpot with two side handles using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms to lift the dark gray cooking kitchenpot", + "Use both arms for the gray kitchenpot with rounded edges", + "Together lift the kitchenpot with two side handles up", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the gray kitchenpot with rounded edges using both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms to lift the dark gray cooking kitchenpot" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode8.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..f7bf2b271ff4d7879954dcfce0fa0195dc201eee --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the round kitchenpot with handles with careful lifting", + "Lift the metal kitchenpot upward with both arms", + "With arms, raise the kitchenpot with smooth exterior upward slowly.", + "Take hold of the gray kitchenpot and lift up", + "Raise the round kitchenpot with handles securely with arms", + "Use both arms to raise the round kitchenpot with handles.", + "Hold the cooking kitchenpot with side grips firmly, then lift.", + "Hold the kitchenpot for boiling and cooking firmly with arms", + "Secure the medium-sized kitchenpot and lift it up", + "Bring the gray cylindrical metal kitchenpot upwards together", + "Lift the cylindrical kitchenpot upwards with care", + "Raise the dark gray stove kitchenpot with strong support", + "Raise the kitchenpot with smooth exterior using both arms", + "Bring the dark gray stove kitchenpot up together", + "Lift the smooth gray kitchenpot up using your arms", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Hold and raise the kitchenpot with smooth exterior together", + "Lift the cooking kitchenpot with side grips steadily using arms", + "Hold and raise the cooking kitchenpot with side grips together", + "Pick up the smooth gray kitchenpot with both arms", + "Raise the kitchenpot for boiling and cooking evenly with arms", + "Lift the cylindrical kitchenpot carefully using both arms.", + "Lift the gray kitchenpot upward and hold it", + "Grab the cylindrical kitchenpot using both arms", + "Secure the smooth gray kitchenpot and lift upward.", + "Use arms to lift the dark gray stove kitchenpot upward", + "Hold the medium kitchenpot made of metal and lift upward", + "Lift the kitchenpot for boiling and cooking carefully using arms", + "Raise the metal kitchenpot steadily using arms", + "Grab the dark gray stove kitchenpot and lift it upwards", + "Grab the round kitchenpot with handles and lift together", + "Both arms lift the dark gray stove kitchenpot upright", + "Raise the round kitchenpot with handles upward with both hands", + "Place hands on the metal kitchenpot, then lift.", + "Raise the gray kitchenpot together using arms", + "Grip the round kitchenpot with handles firmly and lift", + "Grab the cylindrical kitchenpot and lift it up", + "Use both arms to raise the gray kitchenpot", + "Support the dark gray stove kitchenpot and raise it upward", + "Raise the gray cylindrical metal kitchenpot together with arms", + "Lift the smooth gray kitchenpot steadily with support", + "Lift the round kitchenpot with handles using both arms now.", + "Engage arms to grip and lift the kitchenpot with smooth exterior.", + "Hold the smooth gray kitchenpot with both arms", + "Securely lift the kitchenpot with smooth exterior together", + "Hold the gray kitchenpot firmly and lift it", + "Lift the gray cylindrical metal kitchenpot up together", + "Hold the cooking kitchenpot with side grips firmly and move upward.", + "Raise and hold the cylindrical kitchenpot together", + "Carry the metal kitchenpot securely using arms", + "Pick up the cooking kitchenpot with side grips with careful lifting", + "Lift the smooth gray kitchenpot upward with both arms", + "With arms, raise the smooth gray kitchenpot upward slowly.", + "Take hold of the metal kitchenpot and lift up", + "Raise the metal kitchenpot securely with arms", + "Use both arms to raise the smooth gray kitchenpot.", + "Hold the gray cylindrical metal kitchenpot firmly, then lift.", + "Hold the metal kitchenpot firmly with arms", + "Secure the dark gray stove kitchenpot and lift it up", + "Bring the cylindrical kitchenpot upwards together", + "Lift the round kitchenpot with handles upwards with care", + "Raise the smooth gray kitchenpot with strong support", + "Raise the gray kitchenpot using both arms", + "Bring the cylindrical kitchenpot up together", + "Lift the round kitchenpot with handles up using your arms", + "Grasp the kitchenpot for boiling and cooking and elevate together.", + "Hold and raise the cooking kitchenpot with side grips together", + "Lift the gray cylindrical metal kitchenpot steadily using arms", + "Hold and raise the cylindrical kitchenpot together", + "Pick up the cylindrical kitchenpot with both arms", + "Raise the cylindrical kitchenpot evenly with arms", + "Lift the metal kitchenpot carefully using both arms.", + "Lift the gray kitchenpot upward and hold it", + "Grab the cooking kitchenpot with side grips using both arms", + "Secure the round kitchenpot with handles and lift upward.", + "Use arms to lift the gray cylindrical metal kitchenpot upward", + "Hold the gray cylindrical metal kitchenpot and lift upward", + "Lift the medium kitchenpot made of metal carefully using arms", + "Raise the kitchenpot for boiling and cooking steadily using arms", + "Grab the medium-sized kitchenpot and lift it upwards", + "Grab the dark gray stove kitchenpot and lift together", + "Both arms lift the cooking kitchenpot with side grips upright", + "Raise the dark gray stove kitchenpot upward with both hands", + "Place hands on the kitchenpot for boiling and cooking, then lift.", + "Raise the medium kitchenpot made of metal together using arms", + "Grip the medium kitchenpot made of metal firmly and lift", + "Grab the gray cylindrical metal kitchenpot and lift it up", + "Use both arms to raise the medium kitchenpot made of metal", + "Support the gray kitchenpot and raise it upward", + "Raise the gray kitchenpot together with arms", + "Lift the smooth gray kitchenpot steadily with support", + "Lift the cooking kitchenpot with side grips using both arms now.", + "Engage arms to grip and lift the round kitchenpot with handles.", + "Hold the medium kitchenpot made of metal with both arms", + "Securely lift the medium-sized kitchenpot together", + "Hold the kitchenpot with smooth exterior firmly and lift it", + "Lift the medium kitchenpot made of metal up together", + "Hold the cylindrical kitchenpot firmly and move upward.", + "Raise and hold the gray kitchenpot together", + "Carry the kitchenpot with smooth exterior securely using arms" + ], + "unseen": [ + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the kitchenpot with two side handles with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the kitchenpot with two side handles with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the kitchenpot with two side handles upward using arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the kitchenpot with two side handles firmly and lift it", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Together lift the kitchenpot with two side handles up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges with both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Together lift the dark gray cooking kitchenpot up", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot with both arms", + "Lift the dark gray cooking kitchenpot using both arms" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode9.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..663edd4249724fca88bb3d230d125a814bbe9b6f --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the cooking kitchenpot with side grips firmly and lift", + "Secure the cylindrical kitchenpot and lift it up", + "Raise the dark gray stove kitchenpot evenly with arms", + "Grasp the cooking kitchenpot with side grips and elevate together.", + "Lift the cylindrical kitchenpot using both arms now.", + "Bring the cylindrical kitchenpot upwards together", + "Grab the dark gray stove kitchenpot using both arms", + "Both arms lift the metal kitchenpot upright", + "Raise the cooking kitchenpot with side grips using both arms", + "Grab the medium-sized kitchenpot and lift together", + "Hold and raise the cylindrical kitchenpot together", + "Grab the metal kitchenpot and lift it upwards", + "With arms, raise the cylindrical kitchenpot upward slowly.", + "Engage arms to grip and lift the smooth gray kitchenpot.", + "Raise and hold the kitchenpot for boiling and cooking together", + "Hold the gray cylindrical metal kitchenpot firmly with arms", + "Lift the cylindrical kitchenpot carefully using arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Raise the metal kitchenpot together using arms", + "Use both arms to raise the kitchenpot for boiling and cooking.", + "Lift the metal kitchenpot up together", + "Use both arms to raise the medium kitchenpot made of metal", + "Raise the medium-sized kitchenpot steadily using arms", + "Use arms to lift the round kitchenpot with handles upward", + "Lift the round kitchenpot with handles upwards with care", + "Raise the cooking kitchenpot with side grips upward with both hands", + "Hold the gray cylindrical metal kitchenpot with both arms", + "Lift the dark gray stove kitchenpot up using your arms", + "Carry the cooking kitchenpot with side grips securely using arms", + "Bring the smooth gray kitchenpot up together", + "Hold the metal kitchenpot firmly, then lift.", + "Lift the metal kitchenpot steadily with support", + "Take hold of the metal kitchenpot and lift up", + "Raise the medium-sized kitchenpot securely with arms", + "Secure the cylindrical kitchenpot and lift upward.", + "Hold the medium-sized kitchenpot firmly and lift it", + "Lift the cooking kitchenpot with side grips upward and hold it", + "Hold the metal kitchenpot firmly and move upward.", + "Grab the kitchenpot for boiling and cooking and lift it up", + "Securely lift the cooking kitchenpot with side grips together", + "Raise the cooking kitchenpot with side grips together with arms", + "Support the dark gray stove kitchenpot and raise it upward", + "Lift the smooth gray kitchenpot carefully using both arms.", + "Hold and raise the kitchenpot for boiling and cooking together", + "Pick up the smooth gray kitchenpot with careful lifting", + "Hold the medium kitchenpot made of metal and lift upward", + "Place hands on the gray cylindrical metal kitchenpot, then lift.", + "Raise the smooth gray kitchenpot with strong support", + "Lift the gray kitchenpot steadily using arms", + "Lift the medium-sized kitchenpot upward with both arms", + "Grip the kitchenpot with smooth exterior firmly and lift", + "Secure the gray cylindrical metal kitchenpot and lift it up", + "Raise the gray cylindrical metal kitchenpot evenly with arms", + "Grasp the cylindrical kitchenpot and elevate together.", + "Lift the kitchenpot with smooth exterior using both arms now.", + "Bring the cylindrical kitchenpot upwards together", + "Grab the medium kitchenpot made of metal using both arms", + "Both arms lift the cooking kitchenpot with side grips upright", + "Raise the kitchenpot with smooth exterior using both arms", + "Grab the metal kitchenpot and lift together", + "Hold and raise the gray kitchenpot together", + "Grab the metal kitchenpot and lift it upwards", + "With arms, raise the kitchenpot for boiling and cooking upward slowly.", + "Engage arms to grip and lift the metal kitchenpot.", + "Raise and hold the gray kitchenpot together", + "Hold the metal kitchenpot firmly with arms", + "Lift the gray kitchenpot carefully using arms", + "Pick up the kitchenpot for boiling and cooking with both arms", + "Raise the medium kitchenpot made of metal together using arms", + "Use both arms to raise the gray cylindrical metal kitchenpot.", + "Lift the cylindrical kitchenpot up together", + "Use both arms to raise the kitchenpot with smooth exterior", + "Raise the round kitchenpot with handles steadily using arms", + "Use arms to lift the cylindrical kitchenpot upward", + "Lift the smooth gray kitchenpot upwards with care", + "Raise the cylindrical kitchenpot upward with both hands", + "Hold the round kitchenpot with handles with both arms", + "Lift the round kitchenpot with handles up using your arms", + "Carry the kitchenpot for boiling and cooking securely using arms", + "Bring the cooking kitchenpot with side grips up together", + "Hold the kitchenpot for boiling and cooking firmly, then lift.", + "Lift the gray cylindrical metal kitchenpot steadily with support", + "Take hold of the round kitchenpot with handles and lift up", + "Raise the cooking kitchenpot with side grips securely with arms", + "Secure the round kitchenpot with handles and lift upward.", + "Hold the gray cylindrical metal kitchenpot firmly and lift it", + "Lift the cylindrical kitchenpot upward and hold it", + "Hold the kitchenpot for boiling and cooking firmly and move upward.", + "Grab the medium-sized kitchenpot and lift it up", + "Securely lift the dark gray stove kitchenpot together", + "Raise the cylindrical kitchenpot together with arms", + "Support the gray cylindrical metal kitchenpot and raise it upward", + "Lift the kitchenpot with smooth exterior carefully using both arms.", + "Hold and raise the gray kitchenpot together", + "Pick up the cylindrical kitchenpot with careful lifting", + "Hold the cylindrical kitchenpot and lift upward", + "Place hands on the gray kitchenpot, then lift.", + "Raise the dark gray stove kitchenpot with strong support", + "Lift the metal kitchenpot steadily using arms", + "Lift the medium kitchenpot made of metal upward with both arms" + ], + "unseen": [ + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the dark gray cooking kitchenpot", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the kitchenpot with two side handles with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the gray kitchenpot with rounded edges with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the gray kitchenpot with rounded edges with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the kitchenpot with two side handles upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the gray kitchenpot with rounded edges up", + "Lift the gray kitchenpot with rounded edges upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the dark gray cooking kitchenpot firmly and lift it", + "Use both arms to lift the kitchenpot with two side handles", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the kitchenpot with two side handles with both arms.", + "Together lift the kitchenpot with two side handles up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the gray kitchenpot with rounded edges firmly and lift it", + "Use both arms to lift the gray kitchenpot with rounded edges", + "Lift the kitchenpot with two side handles using both arms", + "Lift the kitchenpot with two side handles using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the gray kitchenpot with rounded edges", + "Grab the dark gray cooking kitchenpot with both arms.", + "Together lift the dark gray cooking kitchenpot up", + "Lift the dark gray cooking kitchenpot upward using arms.", + "Lift the dark gray cooking kitchenpot with both arms", + "Hold the kitchenpot with two side handles firmly and lift it", + "Use both arms to lift the dark gray cooking kitchenpot", + "Lift the gray kitchenpot with rounded edges using both arms", + "Lift the dark gray cooking kitchenpot using both arms", + "Lift the dark gray cooking kitchenpot with both arms", + "Use both arms for the kitchenpot with two side handles", + "Grab the gray kitchenpot with rounded edges with both arms.", + "Together lift the dark gray cooking kitchenpot up" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/scene_info.json b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..7226bcdb97754eb17dcbeec680ac552c7d2be64a --- /dev/null +++ b/robotwin_multiembodiments/lift_pot/ur5-wsg/meta/scene_info.json @@ -0,0 +1,502 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": 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